DE1166051B - Fire control system for an aircraft - Google Patents

Description

FEDERAL REPUBLIC OF GERMANY

GERMAN

PATENT OFFICE

EDITORIAL

Boarding school Class: F 07 h

Number:
File number:
Registration date:
Display day:

German class: 72 f- 15/05

1166 051
N16718Ic / 72f
May 15, 1959
March 19, 1964

The invention relates to a fire control system for an aircraft, which consists of a tracking radar device, a fire control computer and an automatic course control device, which the anti-fighter aircraft controls along a course calculated by the computing device.

There are fire control systems known in which a collision course or a lead collision course after a formula is calculated, with the flight time as a function of the slope or measurement distance, the Altitude and the displayed airspeed is calculated. These sizes are included with Hand scales introduced. The lead angle is compared to the line of sight angle to determine the Establish control error signal. The bank and elevation angles are calculated with the calculated flight time multiplied to produce the calculated lead angle. The flight data is corrected not, and some of these known fire control systems do not contain any flight data computing devices. It will no signals are used that are relevant for the static pressure value or the angle of attack, the angle of sliding, the air density and the airspeed are indicative of the special calculation of the Fire control computer to support and to cordon.

Furthermore, a fire control system is known in which movable cannons according to the predicted future Position of the target moved by a relatively fast-acting lowering device will. The aircraft itself, on which the cannons are located, is caused to go in the same direction to assign, but with a relatively slow-acting lowering device.

The object of the invention is to provide an improved fire control system of the above type which steers the aircraft in such a direction that optimal aiming of ballistic weapons is achieved, which are firmly attached to the aircraft. ■

According to the invention, this is achieved by correcting the fire control computer using a flight data computer achieved, which calculates and delivers signals for the static pressure, the angle of attack, the sliding angle, the air density and the airspeed are characteristic and the Fire control computer are supplied so that instantaneous and automatic correction of the fire control computer is achieved.

The fire control computer, which is automatically corrected by the flight data device, has prediction circuits to calculate the following course according to the fire control system for an aircraft

Applicant:

North American Aviation, Inc.,

Los Angeles, CaM. (V. St. A.)

Representative:

Dr.-Ing. H. Ruschke, patent attorney,

Berlin 33, Auguste-Viktoria-Str. 65

Named as inventor:

John R. Moore, Fullerton, CaMf.,

David G. Soergel, Palos Verdes Estates, Calif.

(V. St. A.) ■

the equation

Rk R:. ψ = -ψ- 4-

where ~ R _{k is} the range vector between the existing position of the defensive fighter and a future target impact position, ~ R is the distance vector between the existing positions of the defensive fighter and the target, V _{B is} the target velocity vector and T is the time the target needs / around the future position, and that the prediction circuits have vector summing circuits which generate the target speed vector V _B as the vector sum of the airspeed vector V ₁ , the range difference vector Ri along the line of sight and the outer product of the radar angular velocity vector ω and the range vector Έ.

The fire control computer can also have ballistic circuits that include a time-of-flight servo device, have a hit period servo device and pitch and yaw calculating devices that are corrected by data from the flight data computing device.

The flight data computing device has aerodynamic parameter sensing devices for generating the Correction signals on, wherein the devices contain means for the static pressure and the dynamic pressure to feel outside of the defense fighter, and has means to the lateral, transverse to the To sense the longitudinal axis-directed acceleration of the anti-fighter aircraft.

The fire control computer can perform calculations that determine a point in time for firing the

409 539/50

Identify weapons carried by the anti-fighter aircraft.

The flight data computing device can furthermore have: a device for measuring the static Pressure, a device for measuring the difference between dynamic pressure and static pressure, a device for calculating the weight of the anti-fighter aircraft from measured values, a device for measuring the acceleration of the defensive

angle sensing devices mechanically coupled between the radar antenna and the defensive fighter for the creation of electrical signals which are characteristic of the measured values of the angle-5 deviation of a coordinate system, which is related to the radar antenna, from a coordinate system, which is related to the anti-fighter aircraft; a device for multiplying the output value the sliding angle calculating device with the

Fighter plane in the direction of its z-axis and the initial value of the airspeed calculation pre-acceleration of the defense fighter plane in the direction of the fighter; a device for multiplying the direction of its y-axis, a device for calculating the output value of the angle of attack calculating device of the angle of attack of the defense fighter with the output value of the airspeed measured values, a device for calculating the calculating device; Resolver, which evaluate with the angle of the defensive fighter aircraft from measuring sensing devices between the radar antenna and, a device for calculating the power of the defensive fighter aircraft, with the output of the number of the defensive fighter aircraft from measured values, a self-speed calculating device and the device for calculating the self-speed - Output of the airspeed slip angle of the defense fighter from measured values and the multiplication device and the output of a device for calculating the air density at 20 airspeed-angle of attack multiplication of the flight altitude of the defense fighter from the measuring device are connected to evaluate electrical signals, the output of the weight calculation to obtain which is proportional to the speed of the defense device with the input of the accelerator fighter and connected in coordinates of the measuring device, the output of the coordinates related to the radar antenna ystems z-axis accelerator are expressed with the suffix 25; a vector filter, wherein the output of the angle of attack calculating device is connected to the input of the resolution devices, the output of the y-axis acceleration measuring of the vector filter is connected and the output of the device is connected to the input of the sliding angle vector filter is an electrical signal that is connected to the vectoring device, the output is proportional to the gate speed of the target expressed in radar device for measuring static pressure with 30 coordinates; Devices for the input of the Mach number calculating device calculating the distance between the defensive bonds is the output of the pressure difference measurement in front of the fighter and the target at the predetermined direction with the input of the Mach number calculating device , which in these computing devices are connected to the output of the sliding angle computing device and the air density vector filter; Devices connected to the computing device, further comprising the angle sensing devices between the radar output of the Mach number computing device connected to the antenna and the defensive fighter aircraft. Digkeitsrechnervorrichtung and the air density _{calculator 40 em} e device for calculating the flight time of the device is connected and the output of the missiles; Means for calculating the deviating airspeed calculator is connected to the pitching of the missiles in the direction of the yaw axis of the path of the air density calculator. Defensive fighter aircraft; Devices for calculating The fire control calculating device can also show the deviation of the missiles in the direction of the: Devices for transforming the target inclination axis of the calculating device; Vorrichtunfernungs- and bearing signals from radar coordinates in gene for calculating the sinking of the missile due to aircraft coordinates, devices for correcting gravity and devices for resolving the flight status of the defense fighter aircraft for the purpose of the gravity-induced sinking of the missiles in compensation for the deviation of the projectile of the defense fighter aircraft coordinates, with the Vorrichdjagdflugzeugenden the defense fighter aircraft and the device for calculating the flight time of the missiles with devices for correcting the flight position of the defensive fighter aircraft for the purpose of compensating for the vortex, the device for calculating the gravitation on the projectile in the direction of the ballistic missile deviation Yaw axis of the releasing weapons on the anti-fighter aircraft. defense fighter with the output of the sliding radar antenna on the defense fighter 55 angle calculating device and the output of the can be gimbaled, and there may be airspeed calculating device connected: drive devices that are connected to the device for calculating the deviation radar antenna to cause the missile to point in the direction of the pitch axis with the radar antenna in the direction of the target, based on the output of the angle-of-attack calculator on the defense fighter, and measure its distance and with the output the airspeed level and direction, the drive device being connected ; Devices for the device is connected to the output of the thereby to be controlled calculation of the deviation between the actual radar antenna; three speed gyroscopes connected to the radar attitude of the defensive fighter and the system, the desired attitude of the defensive fighter, about axes of response, which are perpendicular to each other in order to cause the missiles to destroy the target,

Establish electrical signals that reflect the angular velocity of the radar antenna around its axes of response are proportional to the inertial space;

wherein the deviation calculating device with the
Autopilot input
connected to cause the course control

5 6

device the control surfaces of the Abwehr J agdflug- Fig. 19 is a view of the aiming device for a

tool moved so that it is caused to use the fire control system according to the invention

to approach the target along the predetermined path, the radar device,

so that when the missiles are fired, these the F i g. 20 is a side view of the straightening device

Hit the target. 5 for a fire control system according to the invention

A vertical gyroscope can be used, used radar device,

the gimbal mounted in the defensive fighter. F i g. 21 is a view, partly in section, and providing electrical output values taken along line 21-21 in FIG. 18;
a measure of the attitude of the anti-fighter aircraft to the F i g. 22 are a circuit diagram of the servo follower normal of the gravitational field, the elec- tric of the straightening device of a radar device used for the inventive output values of the gyroscope at the fire control system input,
the automatic course control device and the Fi g. 23 a block diagram of the flight data computer-fire control computer is supplied, and the device of the fire control system according to the invention,
The tracking radar device can have an electrical output.
Fig. 25 a schematic circuit diagram of a typing direction is connected in such a way that the defensive see accelerometer, which is used in the fighter aircraft to the target aircraft with the predetermined flight data computer,
Flight attitude with respect to the target aircraft along FIG. 26 approximates a schematic circuit diagram of a pressure-predetermined path and the prediction converter that automatically fires the weapons in the flight data computing device. will be

The invention is shown as an example in the drawings F i g. 27 is a side view drawn in section

illustrated. It shows the device shown in Fig. 26,

F i g. 1 shows a block diagram of FIG. 1 according to the invention. 28 a schematic circuit diagram of a machine

Fire control system, 25 counting device,

F i g. 2 is a schematic representation of a single FIG. 29 is a schematic circuit diagram of an eigenfold two-dimensional monopulse radar or velocity calculating device,
Simultaneous guide beam system, Fig. 30 is a schematic circuit diagram of an air

3 shows a block diagram of the electronic part density calculating device,

les of a radar system, 30 Fig. 31 is a schematic circuit diagram of a sliding

F i g. 4 a perspective view of a preferred angle calculating device;

The additional embodiment of the radiation antenna of
the system according to the invention is used, F i g. 33 is a vector diagram of relative posture

5 shows a view along the line 5-5 in FIGS. 4, 35 of the defense fighter and the target,

Fig. 6 is a view taken along line 6-6 in Fig. 5; Fig. 34 is a unit sphere diagram of the relationship

Fig. 7 is a view of the antenna feed and between the Abwehrjäger coordinates and the

Energy distribution system one of the radar antenna coordinates of the invention,

radar device used in accordance with the fire control system, F i g. 35 is a block diagram of the prediction circuit

Fig. 8 is a plan view of the antenna feed and 40 device of the fire control computer,

Energy distribution system of one in the case of the invention. Fig. 36 is a block diagram of the ballistic

radar device used in accordance with the fire control system, switching of the fire control computer,

Fig. 9 is a perspective view of a portion. Fig. 37 shows a vector filter used in the prediction

the microwave pipe installation one is used for the invention of the fire control computer,

according to the fire control system used radar devices 45 Fig. 38 a diagram showing the relative position of the

tes, where a target is shown, which shows the side of the anti-fighter aircraft and the target,

is shifted against the main axis of the antenna, F i g. 39 a schematic circuit diagram of a meeting

F i g. 10 is a perspective view of the FIG. 9 period servo device,

device shown, with a target shown F i g. 40 is a schematic circuit diagram of a flight vertically against the major axis of the ante 50 servo device,
antenna is shifted, Fig. 41 is a schematic circuit diagram of a longitudinal

11 shows a perspective view of a tilt reorientation calculating device,
curved T-hollow waveguide one of the f i g. 42 a schematic circuit diagram of a yaw-compliant fire control system used radar device, reorientation calculating device,

Fig. 12 is a view along the line 12-12 in 55 Fig. 43 is a block diagram of the longitudinal inclination

Fig. 11, channels of an automatic course control device,

FIG. 13 shows a diagram of the electric field lines. FIG. 44 shows a block diagram of the rolling yaw of a

in Fig. 12, course control device,

Fig. 14 is a circuit diagram of a phase detector of a Fig. 45 is a schematic circuit diagram of a pitching

in the fire control system according to the invention, use 60 speed calculating device of the longitudinal inclination

deten radar device, channels of a course control device and

15 and 16 are sectional views along the line Fig. 46 is a schematic circuit diagram of an integrated

15-15 in Fig. 9, grating device of the longitudinal inclination channel of a car

F i g. Figure 17 is a view taken on line 17-17 of the matic course control device.

Fig. 15, 65 The device according to the invention forms in the

Fig. 18 is a plan view of the straightening device for a whole part of an aircraft of the defense or

a type of hunting in the fire control system according to the invention, which is referred to here as a defensive fighter aircraft

reversed radar device. The angular position and the distance

7 8

of the target aircraft with respect to the following described devices become single-defensive fighter aircraft must be measured, the borrowed as examples to illustrate the verioptimale Course along which the anti-fighter aircraft fication of the various main parts of the system must fly to the target aircraft from - given according to the invention. Parameters or get caught and to destroy must be calculated, 5 variable sizes are made by means of shaft rotations the ballistic or fire control parameters for moving from one part of the system to the other mecha fighter aircraft and for his weapons must be delivered mechanically or by means of electrical signals from can be determined mechanically, the defense fighter transferred from one part of the system to the other, must be steered on the required course, and the parameters become the mechanical shafts Weapons must be turned into electrical signals at the appropriate time by means of a potentiometer will. celebs, synchronous servos, resolvers, and

The invention enables the defensive fighter to be transformed into other electromechanical converters, to cause along one of two courses after

Choice of pilot to fly. The first course, the first, the radar system of the invention

is called a lead collision course, and 15 explained in accordance with the fire control system, the corresponding type of attack cause that although obviously radar systems of different

the defense fighter used the future location of the kind in the plant according to the invention A special radar system is used here to approach the target directly in such a way that the projectile can be when the weapons have been triggered automatically.

a trajectory follows that is an extension of the course 20 The various parts of the radar system and it of the fighter plane and hits the target. The second assembly with the drive devices are in Course, the lead parsait to U.S. Patents 2,956,275, 2,764,740 or is called, and the corresponding type of attack 2 654 031 is shown and described The radar initiate The defense fighter plane, at the shortest facility, is subject to the fire path according to the invention No element protection for the aircraft forming the target from the guidance system, th to approach. Previously, the accuracy of target tracking

The defensive fighter is controlled by an automatic device, which is controlled by a system with a jet carrier system Course control devices available from gyroscopic or cone tracking a fire control computer is controlled. This uses several simultaneously present jets Information from a radar system and a 30 lobe improved to every time an in-flight computing device. The fire control computer diripulse is sent and received from the target yaw not only the course control device, but echo complete information regarding that Also causes the trigger to get the weapons of the target tracking. When several radiation fighters. The construction and work clubs are created at the same time and consequently one of the For each device mentioned, full information corresponding to the pulse frequency is detailed below described. tion with regard to bearing and distance from the target

The description explains the functional and is preserved, the railway can quickly be built on by itself Relationship between the mentioned partial routes and goals can be better determined, devices of the system and explains how they work together

knowledge of the sub-devices and sub-devices. 40 the use of many electromagnetic

The radar device 1 in Fig. 1 is intended to entdek the target2 rays that ken from a common microwave. It transmits a signal that is indicative of the distance-emitting energy source via complicated micro and the bearing of the target 2, based on the waveguide, such as so-called ring forks or military fighter aircraft 3, to the fire-other equally complicated microwave control computer 4. The flight data computing device 5 calculates 45 waveguides, are fed. In some arrangements, the aircraft parameters, such as Mach number, slopes, the lengths of the electrical conductors are different from the angle, sliding angle, static pressure, pressure under- the microwaves emitting energy source to the difference, airspeed and air density, and individual radiators. In these cases, the calculated information is transmitted to the fire - it is therefore necessary to introduce a phase control calculator 4 and the automatic course control delay in some waveguides in order to reduce the mutual phase shift inclined in the shaft alignment 6. and to compensate for information relating to roll angle. This phase delay device of the defense fighter to the fire control computer generally work with a narrow band, device 4 and the course control device 6 the actual heading and the narrow. In addition, most phase desired heading of the defensive fighter 3 shifters reduce the ability to get to and transmit the error signals to the heading power amplifier in the facility. In the device 6, which influences the control surfaces of the defensive general, it is therefore necessary with the fighter 3 reduced. When the Abwehrjagd- 60 power over a narrow frequency band to work aircraft 3 reaches the correct position on a lead, with the maximum range of the radar system reaching a collision course, the fire control is reduced and the system for faults computing device 4 to the firing circuit 8, which which is made more sensitive by the enemy. In triggering the guns 9 and / or their devices, a fairly simple high-level rocket 10 is fired. The computing devices used in the system according to the 65 frequency line arrangement, with the invention being used, are but a large distance between the individual radiators, preferably analog computing devices, may be required in order to have sufficient sensitivity but also digital computing devices. Which im targeting to get. This device type

9 10

has the disadvantage that a high sidelobe level lies on the axis, both echoes, i.e. H. the phasenin the antenna directional diagrams is present, and the same and the phase-shifted echo, from the is therefore sensitive to interference. Receive radiators 11 and 12, and their phase

In Fig. 2 in a single plane a simple shifted component is over the arm 18 of the Radar system of the monopole or Simultanleitstrahl- 5 ring fork 13 transmitted to its receiver. the Gyro type shown for locating a target. Emitter Size of the phase-shifted echo shows the Aus-11 and 12 are given the same performance over a measure of how far the target is off-axis Ring fork 13 fed, as detailed in the book (insofar as there are small deviations Microwave Transmission Design Data), and a corrective action becomes a Theodore Moreno is described on p. 181 ff. io, which is a message from emitters 11 and 12 The directional diagrams of the two emitters in the effect on the target. To get with the just described-drawing plane the form systems have information of a three-dimensional nature

To get over one goal would be at least four

F (G λ - 2 Ε (θ Ϊ cos (- sin θ 4- ® ± - \ radiator required so that the amount by which a

<· ^Ϋ ~~ ^{K l}} \ 2t ¹ ^ 2) '15 Target outside the axis Hegt, the height and the

Side angle after can be viewed. One

where E (S ₁ ) the directional diagram for a single such installation would obviously require the use of radiators, (I) ₁ the relative phase of the two radiators, multiple ring forks or spatial s the distance between the two radiators and T-elements, creating a bulky radar S ₁ is measured as in F i g. 2 is shown. If there were to be a system that would be frequency-sensitive with the two radiators with in-phase electromagnetic or would only have a narrow band,
tables waves over the arm 14 of the ring fork 13 For full understanding and appreciation of the

are fed, the resulting directional slide can special properties of the to be described gram for the two radiators through the curve 15 radar system, it seems appropriate - at Unterin Fig. 2 are shown. The distance of a 25 break of the explanation begun -, some The goal can therefore be measured by time, briefly operating principles of microwave transmission between the emission of a pulse on which the mode of operation depends. It will magnetic energy through the radiator and thereby from a parallelepiped dielek reception of an echo from the target according to the tric waveguide with a closed conductive one known radar theory passes. 3 ° interface assumed. A double

If the two radiators with non-in-phase rectangular waveguides are now used as "two-waveguides" with one electromagnetic waves are fed, are based on common conductive interfaces, the resulting directional diagrams for the two If an electromagnetic wave generator

Emitter through curves 16 and 17 of FIG. 2 dar- very high frequency, z. B. a magnetron or a placed, since the energy of the two radiators is close to 35 cavity resonator, to which one end of a hollow of the axis of symmetry is connected in the case of out of phase conductor, the waveguide seeks to cancel, while outside of it an electromagnetic waves in different Schwinsunche Repeal did not take place. In fact, there is a transference type, depending on the strength at the maxima of the two radiation relationships between the geometrical shape of the club. When conventional radar receivers are closed to the wave guide and the nature of the waves generated, in order to receive signals from the arms 14, the output of this receiver system becomes mainly a class of transceivers used, the location of a target in the types of load vibrations used, which are called the "transverse plane of FIG. 2 to get. Since the arm 14 is known to be of the electrical type of oscillation. Assumption ring fork 13 the same distance from the radiators 1 45 according to the magnetic field has a parallel component to and 2, the waveguide axis received by the radiators will have a parallel component, any in-phase echoes transmitted via the arm 14 to its receiver but the electrical field located therein . In the same way, look for each other at every point across the axis. Electrical transverse, since the arm 18 is an odd multiple of half-waves, are designated in the following more closely by wavelengths and farther from the radiator 11 than from 50 net, that the number of halves of the radiator 12 is removed from the radiators by index numbers in the period changes in the transverse field strength along the to add the arm 18 out-of-phase echoes received by its receiver with respect to the short and long dimension of the waveguide, respectively, is indicated in the cross-section. For example, while in-phase with respect to arm 18, the fundamental mode will cancel each other out in square wave echoes. Therefore, if a target is located on the 55 ladder as a TE _Oi oscillation type (TE = transverse axis, ie if it is directly in front of the two electric); This indicates that the waves belong to the radiator and on a vertical bisecting electric transverse field type, that there is no Andes that connects the two radiators to a transverse field along the short dimension of the line. is present and that a single half-wave traversing echo is captured by the arm 18 reception of the transverse field along its long dimension, while energy is generated by the arm 14. In the same way, TE _{02 means} swing is taken. The fact that energy is received via the transmission type that no change in the transverse field is received along arm 14, respectively indicates that one of the short dimension of the waveguide cross-section target is present, the further fact that there is and two half-wave changes of the transverse no energy over the Arm 18 is received, when 65 fields occur along its long dimension. Shows that the target is exactly on the axis from a different point of view, can be found and thus the radiators point to the target. say that in cutting the waveguide in If, on the other hand, the target is slightly outside that of any particular one perpendicular to its axis

11 12

current level would find that equal and dewave energy is set in a suitable way on the superordinate Directed electrical charges can distribute in the surface of the reflector 22 and from opposite sides of the waveguide bounced back from a target and from the reflector are handled along which changes in the transverse field effectively capture microwave energy exist. These opposing charges 5 are at the slot openings of the steps 43 and 46 naturally a consequence of the existing field. bundles and from there back via the waveguide It has long been recognized that the outputs 38 and 39 can be transferred to the system, propagation of electromagnetic waves in one of which it originated.

Waveguides in more than one oscillation type. When operating the device according to FIG. 5 to 8

The reason it is uneconomical is that normally only one oscillation type is properly transferred to a waveguide 36 and from there through which the load can be coupled and therefore in the young section 35 to the waveguides 38 other oscillation type energy is largely consumed by the double. and 39 headed. The taper of the waveguide 35 is drained. However, the described here is carried out continuously in order to avoid sharp transitions . The presence of a system of ratios means that both types of oscillation are decoupled without an excessively large standing wave in the waveguide-like loss. According to the scheme of FIG. 3, the method of generating the microwave generator would result in adverse effects on the working system. Magnetron 19 microwave energy pulses that pass through the waveguide 35 must be tapered to as narrow a branch waveguide 20 and a double-type dimension as possible, so that output slots bridge 21 are delivered to the antenna reflector 22 and the steps 43 and 46 are spaced apart. Energy reflected back from the target will be able to be obtained from the antenna reflector 22 that absorbs the optimal energy or field over the 25 distribution on the reflector. When the middle bridge 21 and the branching waveguide 20 are fed back - these output slots of the stages 43 and 46 around and thus arrives at the E-plane T 23, which are more than approximately five eighths of the spreading height mixer stage 24, the lateral angle mixer stage 25 wavelength separated, The secondary and distance mixing stage 26 distributes signals from these beam radiation to the reflector, the amplification mixing stages are reduced via intermediate frequency amplifiers 30 of the antenna, and the beam width 27, 28 and 29 at demodulators 30, 31 and 32 is increased. If the distance is smaller than delivered from which signals are obtained which is approximately three eighths of the wavelength, the elevation angle, the lateral angle and on the other hand too much microwave energy radiate over the edge distance from the target. of the reflector, thereby wasting energy. In Fig. 4, a parabolic reflector 22 is shown, 35 larger sidelobes and reduced operation of the electromagnetic energy sharp against a target result in efficiency. The waveguides 38 and 39 and back from such a target are curved as shown without sharp corners, able to bundle returning energy so that it re-enters the high-frequency system around that propagating in the waveguide, directing waves against the reflector so its which the original signal came from. Assembly is in the 40 surface uniformly charged with energy, as shown in FIG. 4 reaches the backscattered _o teeth that reflection of the energy within the energy to slots 33 and is inserted in the antenna waveguide system 34. The function of the feed element 35, which is shown in detail in FIG. The purpose of the antenna impedance matching between the wave feed element is to evenly feed the 45 conductors 38 and 39 and the free space. This AnOberfläche of the reflector 22 with microwave energy is achieved by using a stepped number and performing the proper impedance _V on extensions of the waveguide matching between the waveguide 36 and the cross-section adjustment. From Fig. 5 one recognizes that free air space. the steps only at the level of the waveguide and in FIG. 6, the curved section 37 does not occur in its width. The width of the individual shown and consists of waveguides 38 waveguides must be above a certain critical and 39, each of which has a 180 ° round dimension, so that electrical transverse waves have the curved part; they are connected to both one and two half-wave amplitude matching diaphragms 40, which have steps 41, 42, 43, changes in the electrical field strength transversely to 44, 45 and 46. The waveguides 38 and 39 are 55 the width of the waveguide, through which they can be guided via their straight and curved part with the same. This critical dimensionally rectangular cross-section, as in the measurement, which is known as the "limit dimension", is shown individually in FIG. 7 and 8 can be seen. The equal to the free space wavelength of the extending corner waveguide sections 38 and 39 are as sharp as the microwave energy. However, since the attenuation can be bent so that its overall dimensions can be kept as small as possible in a waveguide for transmission close to the least. This is required- the cutoff frequency is relatively high, which is borrowed to reduce the aperture blocking to a minimum width, preferably slightly greater than the wavelength. The adjustment panel 40 is made with loading. If these slots have a length of more than ten on the parabola so that the effective than 10 to 12% of the wavelength of the radiation center of the exit slots of the 65 have the microwave energy to be transmitted, the stages 43 and 46 are satisfied at the focal point of the parabola. get positive results.

reflector 22 is located so that through the exit- In general, the bending radius of the shaft slots of the steps 43 and 46 expanded microconductors 38 and 39 is so small that the

13 14

Waveguide not over the edges of the aperture 40 length of the steps 43 and 46 ... 0.0787 X ₀

step forward. The dimensions of the aperture 40 will be the _{height of the} waveguide for the

by a compromise between condition levels 41 and 44 0 1352 X

smallest aperture blocking and the diaphragm function _TT ..,, ", _n ,,. ""'.'"'.''°

determined directing the energy to the reflector 5 height of the waveguide for the

to support so that an optimally sharp beam ^{5tures 4Z and 4S} U ₁ Lb / X ₀

bundle is obtained. The use of a small amount of waveguide for the

Bending radius of three tenths of the wavelength has steps 43 and 46 0.207 X ₀

The spacing of the exit slots proves to be satisfactory for the waveguides 38 and 39

proving proven. In the same way, the io for levels 43 and 46 of

Length of the steps 41, 42, 43, 44, 45 and 46 (Fig. 6) the outer surfaces of the

at approximately a tenth of the wavelength as a waveguide 38 and 39 0.0462 X ₀

highlighted optimally. The difference in height of the

Waveguide for the Steps Shown in Figure 6 In Figures 9 and 10, the waveguide 36 is so three hundredths of a wavelength. 15 posed as if he were in the plane 9-9 in Fig. 4 The lengths of each step and the change in the cut, with an energy diagram from each step standing in their effect is radiated as it is by use only on the Amplitude and phase of reflected energy from a reflector, e.g. Of the reflector 22, and from each of the discontinuities in the interrelation of a feed element, which is the feed element 35 and are adjusted so that a negligible 20 is similar, is obtained. To simplify the reflection in the waveguides 38 and 39 via the drawing, this entire feed frequency band is obtained in FIGS either one or two half-wave changes in the parts in FIG. 9 and 10 of the system, the electric field strength across the width of shaft 25 in FIG. 9 will have energy in the TE ₀₁ -Schwingungstyp conductor. The frequency band of the waves propagating away from the magnetron 19 through the square wave is narrow with respect to the actual conductor section 47 and from there through the widening center frequency and is 5 to 6% of this terning section 48 to the square section 49 frequency . This is in comparison with other food-propagated. At 50, the waveguide is again a wide area, which, however, widens the front 30 in the width direction, and a section of the interchangeability of frequency-determining edge partition is introduced, which results in the energy of the radar components in the system, in which the front in the upper and lower waveguide 38 or 39 direction is applied. The height of the waveguide divides. Thus, waveguides 38 and 39 transmit 38 and 39 in FIG. 6 depends on the atmosphere and the TE ₀₁ oscillation type with the same intensity and the pressure present in it, as well as the emitted phase. By means of the feed and antenna, a reflector system, which is shown in FIGS. 4 to 8, but for a value as small as a tenth of the wavelength for simplification not in FIG. 9 and 10, without the risk of malfunction if a radiation lobe 51 occurs in the free space of atmospheric pressure when a peak is emitted. If the target is exactly on the power in the order of magnitude of the kilowatt axis, every wave that is reflected arrives and is turned. With the appropriate combination of the energy from target 2 back to the end of these experimentally determined dimensions, waveguide sections 38 and 39 have been shown to be possible at exactly the same _{time, the TE 01} oscillation type point in time. The energy still oscillating in the TE ₀₁ type and the TE ₀₂ oscillation type of electromagnetic back-radiated energy is transmitted by the microwave energy and both types of oscillation are returned to the free space by means of this feed element in the same way as they were sent out to adjust the period properly. Since the lengths of the steps between the transmission of a pulse and the and the heights of the waveguide for each step to receive its echo indicates the distance of the target suppression of reflections in the waveguides. However, if the target of the page is still critically interrelated outside 38 and 39, the axis is 50 as shown in FIG the reflection in the wave wave is still the same and therefore the drainers are negligibly small. The table below gives examples of waves on one side or the other of the two critical dimensions of a feed system, such as 55 waveguides before reaching the other side. Which in practice is designed in units of the mean-occurring wave therefore excites a complex electroren wavelength X ₀ . magnetic field in each waveguide 38 and 39

and can be broken down into components, the two

Diameter of the reflector 22 22.2 X ₀ different types of propagation in the waveguide

Focal length of the reflector 22 .. 9.14 X ₀ 60 correspond. One component is natural

Distance from the adaptation of ^the TE ₀₁ oscillation type and additionally transmitted

blind 40 to the reflector 22 9 X ^the waveguides 38 and 39 of a second type, namely

Width of the exit slots and ^the ^ f ^ '^^ V- ^ ^' ^ 'u ^^ E

Waveguide 1114 ) travels through the waveguide to section 47

ui. j ™ ii VV Vo V ™ r. '™ ^ ^{0 6} 5 ^{m back} the same way as when the target

Height of waveguides 38 and 39 are 0.0995 X _{0 on d} * _axis ^ _{However, the}

Length of the steps 41 and 44 ... 0.105 X ₀ TE ₀₂ - vibration type due to the tapering

Length of steps 42 and 45 ... 0.0987 X ₀ waveguide section 52 are not transmitted,

15 16

because the transverse dimension of the waveguide above these waves in the collinear waveguides, as at 57 point beyond, does not carry this type of oscillation. The one shown in Fig. 13, however, does not emerge from the TE ₀₂ oscillation type has two half-wave changes branching waveguide 20, since its transverse dimension of the transverse field along the width dimension or solution is too small to propagate at this / axis in Fig. 9. However will support the TE ₀₂ -ScIiWm- 5 wavelength. However, if a movement type through the slots 53 and 54 in the upper complex electrical transverse wave, which are transmitted in each other and lower waveguides 38 and 39, because in-phase and out-of-phase components create an electric field, if one in turn the Zu- can be resolved into the If both collinear levels of charges are present on the surfaces of the waveguides, the phase guides 38 and 39 can be viewed with components displaced in a direction par- io by dashed lines allele to the / axis in FIG. 9 on the top and as shown at 58 in FIG. The arrows in the two waveguides point in unraveled. _{The TE 02} oscillation type transmitted through the waveguide sections 38 and 39 in opposite directions, which is indicated, is therefore one that at each point these field lines decoupled the _{component of the electrical transverse waves displaced through slits 53 and 54 i 5} to the side arm 55 of the Double type bridge 21 over- represent. Look at the end of the partition 56 to wear. The energy, which in the TE ₀₂ oscillation type consists of the mutually phase-shifted waves in the waveguide sections 38 and 39, generate interaction, and the field lines are called TE ₀₁ oscillation type in the side arm 55 seek to shorten each other, so that the wave in transfer. Through a complete, together 20 Fig. 13 does not progress to the left. However, the phase comparison described with FIG. 5 is the curved field indicated at 59, and the system can couple the direction in which the destination of these lines can be in the branch point conductor is off-axis side from FIG. 20, which is perpendicular to the axis of the information extending from the height of the collinear waveguide, since in this case the energy 25 returned by the waveguide 47 the curved field gives a component in the Horier. zontal direction of FIGS. 2 and 3 has. The phase

In Fig. 10 the case is shown when the shifted component of the electrical transverse waves

The aim of the height is still outside the axis. in the two collinear waveguides is therefore in

In this case, the reflected energy is coupled into the branch waveguide 20 and is

the waveguide sections 38 and 39 are slightly decoupled from the main waveguide. The to-

docile phase shift, the size of the other in-phase components combine

Phase difference depends on the extent in, however, and will be tapered by the

which the goal of height is still transmitted outside the section 48 and the waveguide 47.

Axis is located. Now excites the echo in the waves- The tapered section 48 is required

conductor sections 38 and 39 electromagnetic fields, 35 around the impedance matching between the rectangular

the in mutually in-phase and opposing waveguides 47 and the collinear waveguides 38

side phase-shifted TE ₀₁ components separated and 39 to improve. Known devices such as

can be. In other words, the fields in e.g. B. iris diaphragm, can naturally be used

any cross-section of the waveguide can be used as the one to ensure the impedance matching between the colli-

the sum of the two in-phase waves from the near-end waveguide and the output waveguide

TE ₀₁ type and two phase-shifted waves of the continue to improve. Regardless of whether the

TE ₀₁ type. The phase-shifted propagated in the collinear waveguide 38

beneath components are separated and caused complex wave leading or lagging, which is in

to flow through the branch waveguide 20, while the collinear waveguide 39 propagating elec-

the in-phase components due to the wave- 45 tric transverse wave due to the phase relationship between

ladder section 47 progress. see the electrical cross waves indicated that

11 and 12, the collinear one consists of the branch waveguide 20 and the rectangular waveguide 49 progress from the upper waveguide 38 and waveguide 47. If the field lines are like that the lower waveguide 39 directed through a sheath as indicated at 59 is visible wall 56 are separated. The waveguide 49 is borrowed from the 50 that the branch-off waveguide immediately adjacent to the connection 20 connected, the right-hand part of the waveguide 20 also from the left to has an angular cross-section. The waveguides 38 and 39 on the right in Fig. 13 adapt to directional field lines, are connected to the tapered section 48. This condition indicates that the upper waveguide agrees that the rectangular waveguide 47 leads 38 relative to the lower waveguide 39 is bound. The design form is used for radar 55 acts. If the lower waveguide 39 with reference transmission and reception in the transmission band, leading to the upper waveguide 38, preferably at a frequency of about 9375 MHz. point the arrows at 59 in the opposite direction

Let us now assume that electrical direction, which causes the field lines

Cross waves through collinear waveguides 38 and 39 in branch waveguide 20 from right to left

are transmitted through, from the right 60 are directed. Thus, the sign of the very

to the left in Fig. 12 and 13. If these waves small phase difference between the electrical

are exactly in phase, the direction of the transverse waves in the waveguides 38 and 39 can thereby

Fields are determined by the solid arrows in Fig. 13 that only the phase of the elec-

with the density of the arrows representing the Irish transverse waves in the branch waveguide 20

Indicates strength of the electric fields and the arrow 65 with the phase of the electric transverse waves in the

heads indicate their direction. At the point where square waveguide 47 is at a distant point

the partition 56 in FIGS. 12 and 13 ends, by means of the phase sensitivity shown in FIG.

agree the in-phase electrical cross-borrowed circuit is compared. Thus, in a

Way; which are fully related to FIG. 3 is described, the phase difference between the energy in the branch waveguide 20 and in the Waveguide section 47 is compared to give an indication of the direction in which the target's altitude is off-axis. The amplitude of the output of the branch waveguide 20 is the displacement of the target from the axis of height proportionally for small angles of deviation, and the The amplitude of the output from the deviation arm 55 is the deviation from the axis of the page according to proportion.

According to Fig. 3, what is the branch waveguide 20 leaves, fed to the height mixing stage 24. The altitude mixer 24 also receives the output value of the superimposer 60, which is a common klystron type oscillator, and at a frequency is tuned near the frequency of the microwave energy reflected back from the target, presumably 30 MHz above or below the magnetron frequency. The mixer 24 therefore generates an output frequency which, according to the superposition principle, is the difference frequency between the Magnetron frequency and the superimposed frequency is. This difference frequency can, as already stated would have a value of about 30 MHz and can usually be used in the intermediate frequency amplifier 27 be reinforced. The signal is sent from the intermediate frequency amplifier ″ 27 to the phase decoder 30 (Demodulator) supplied which the phase of the output of the branch waveguide 20 with the output value compares that of the waveguide section 47 in FIG. 9 is derived.

A detailed circuit diagram of the phase detector 30 is shown in FIG. There are two intermediate frequency inputs to the phase detector 30, ¹ , namely one from the height mixer 24 via the intermediate frequency amplifier 27 and the other from the distance mixer 26 via the intermediate frequency amplifier 29. The first input is referred to as the input value indicating the deviation, since it determines the extent represents in which the target is shifted vertically from the "line of sight" of the radar antenna. The latter input is referred to as the sum indicative input value as it is derived from the in-phase components of the TE ₀₁ reflection from the target. The input value indicating the sum is supplied via the tuned input transformer 61, the secondary halves of which are individually tuned to the exact resonance frequency (for the circuit shown, 30MHz) by means of capacitors 62 and 63. As previously mentioned, if the input value indicating the deviation is in phase with the input value indicating the sum, then target 2 is shifted vertically in one direction, and if the input value indicating the deviation is out of phase with the input value being displayed summed up, the target is shifted vertically in the opposite direction. The function of the phase detector is to generate a voltage of one polarity at the output if the input value indicating the deviation is in phase with the sum input, and to generate a voltage of opposite polarity if the input value indicating the deviation is 180 ° from the input value Sum indicating input value is out of phase. Since the output value is derived from the cathode amplifier stage 64, in explaining the function of the circuit, the input value at the grid of this stage can be regarded as the output value of the circuit. From Fig. 14 it can be seen that in the absence of an input value indicative of the deviation, the voltage at the grid of triode 64 is zero since the currents of diodes 65 and 66 are equal and opposite to the voltage at the point

ίο 67 contribute where resistors 68 and 69 and the High frequency choke 70 are connected. However, if the input value indicating the deviation is in Phase with the input value indicating the sum, the current through one of the diodes is increased, while the current through the other diode is reduced. The opposite process occurs if the input value showing the deviation is 180 ° from the input value showing the sum is out of phase, so that with phase

ao equality of the input value indicating the deviation with the input value indicating the sum a voltage of one polarity occurs at the output, while the opposite voltage appears if the input value showing the deviation is 180 ° from the one showing the sum Input value is out of phase. In this way the sense of direction of the deviation, i.e. H. the direction in which the target is vertically off-axis with respect to the antenna, indicated by the polarity of the output voltage.

The sense of direction of the deviation of the side next

is determined by the phase detector 31, and the direction in which the target is following the page is located outside the axis, is determined by the polarity of the output voltage of the phase detector 31 recognized by a circuit similar to that shown in FIG.

Fig. 15 is a sectional view where the double-type bridge 21 is attached to the waveguide sections 38 and 39, and in this figure the relative transverse electric field strength is plotted as a function of the waveguide transverse dimension in the event that the target is facing outwardly Axis lies. When the target is side-to-side off-axis, the electromagnetic waves in each waveguide section are propagated in two types of vibration. The fundamental mode is the TE ₀₁ type, which is also designated as such in FIG. The secondary vibration type is the TE ₀₂ type, which is shown in Fig. 15 with dashed lines. It is noted that there are two half-wave changes in the transverse field along the long cross-sectional dimension of the waveguide and that the fields are directed in opposite directions and reach maxima at the two quarter points of the long cross-sectional dimension of the waveguide. The function of the double-type bridge is to extract all electromagnetic waves of the TE ₀₂ type from the main waveguide.

to couple. This is achieved in that electromagnetic waves of the TE ₀₁ type are excited by means of slots 53 and 54 in the side arms of the bridge. If the target of the page to the left is off-axis, the fields can be assumed to be as shown in FIG. In this case, the resulting transmission of the TE ₀₁ type through the side arm of the bridge with that through the main waveguide itself

409 539/50

propagating electromagnetic waves of the TE ₀₁ type are assumed to be in phase. Whether the electromagnetic waves of the TE ₀₁ type transmitted through the side arm are actually in phase with the electromagnetic waves of the TE ₀₁ type transmitted through the main waveguide depends of course on the relative path lengths from the feed element to the phase comparison point, ie on the phase detector. However, it can be assumed

ensure that this result is obtained. If this assumption is correct and if then the goal of the Side by a similar way to the right

the distance, some circuit for such Timekeeping, as is well known in radar technology, can be used for this purpose will.

The manner in which the in-phase electromagnetic waves of the TE ₀₁ vibrational type reflected from the target are separated from the mutually out-of-phase waves of the TE ₀₁ vibrational type is illustrated in FIG - io represents a longitudinal section through the waveguide, lengths can be changed somewhat in order to ensure - As explained above, the retroreflected

Wave of separation into the waves of the different vibration types first, ie the Te ₀₂ waves are shifted out of the waveguide by means of slots 53 and 54 is off-axis, the feed 15 can be decoupled and excite in the side arms the state of the fields within the waveguide so that double-type bridge 21 electromagnetic waves are put in, as has been done in FIG. the TE ₀₁ oscillation type. The wave radiated opposite to the TE ₀₂ fields in FIG. 16 then runs through the waveguide to the Ab-F i g. 15 only reversed in the sense of direction. Thus branch conductor 20 back, where electromagnetic waves are for the same path lengths and other corresponding waves which are phase-shifted with respect to one another, the corresponding parameters are the electromagnetic waves of the branch coupled out through the branch waveguide 20 in the side arm of the waveguide. At the point where the dividing wall 56 TE ₀₁ -type ends 180 ° out of phase with the ends and the double waveguide becomes a single wave propagated through the main waveguide, the propagation of the TE ₀₁ -type also hears magnetic waves of the TE ₀₁ -type. Therefore, the 25 in mutually phase-shifted components on the same phase detector circuit for the phase so that beyond this point only in-phase detector 31 as used for the phase detector 30 TE ₀₁ waves are propagated through the single waveguide, and the sign of the output voltage is planted. These TE _Oi waves are directed to that of the phase detector 31 indicating the direction in which the detector 32 is directed and are used to determine the distance to the target from the side outside the axis 30 to the target. The phase shifted. The phase detectors 30 and 31 deliver TE ₀₁ waves are transmitted through the branch waveguide 20 to the mixer 24.

Devices and apparatus for directing a beam of energy from the reflector 22 to the automader Side out of axis. The 35 tables of successors to goal 2 require two Directions in which the target's height and types of movement to get the directed beam at the target

to keep. The first is a vibratory motion of limited amplitude centered on the target and in which signals are generated that are not suitable for servo setting or height outside of the 4 ° axis position of the device on the target. the is, the phase detectors 30 and 31 do not provide a second, a less rapid movement is greater Baseline. If it is the side or the altitude amplitude necessary to adjust to the target and to the is located off-axis, the radar system will generally be held in the direction of output values of the phase detectors 30 and 31 ver the goal is required. The first move demands turns to aim the antenna reflector 22 so 45 that the radar antenna swings about a point which that it points directly to the goal. The means with which lies very close to the reflector itself. The tragic these drive processes can be achieved system for the radar antenna must therefore also be assumed, are described in detail below. The measure be to vibratory devices for the The aiming device explained below works with the antenna and other associated heavy mechanical Microwave part and the electronic part of the 50 and electrical equipment to carry. The second BeRadar device together, whereby a servo loop movement must be formed despite generally slower speeds is; as long as the output values of the speed have a large amplitude and a phase detector indicate that the target can handle disproportionately large mass, half of the axis, the antenna reflector is The space requirements for a radar support system

in the sense of reducing the size of the exit 55 require that the "view" of the radar system over the values of the phase detectors adjusted until the entire expected angular range of the device

is unhindered. In addition, the carrying device, if the radar system in an aircraft with high Flight speeds are to be used,

The signal from the phase detector 32 gives a 60 winds that the size and weight of the used Distance identifying information in accordance with the entire annex should be kept as low as possible.

In Fig. 18 are a radar antenna 22 and a spherical, approximately eyeball-shaped housing 71, which set the antenna in oscillating movements.

by the magnetron 19 and the reception of a 65 echo the drive and electrical microwave components is characteristic of the goal. This time is measured F i g. 1 to 17 included, on stub shafts 72 directly proportional to the distance of the target. Thus, 73 and 73 are arranged to be rotatable on a drum If the output of the phase detector 32 is a display 74 mounted. This is in the form of a cylinder

therefore signals that are proportional to the magnitudes around which a target is located for small angles of deviation, whose echoes have been detected, the height or

Side is outside the axis, are determined by the signs of the output values of the phase detectors 30 or 31 are displayed. If the goal of the

input values have dropped to zero. Therefore, the antenna reflector 22 remains essentially on the Aimed at the goal and follows it automatically.

the usual radar theory. The task of the phase detector 32 is to generate a signal that for the time between the emission of a pulse

Segment formed and rotatable by means of pulleys 75 and 76, which can be driven on the shafts 72 and 73 are attached outside the drum 74. The disc 75 is attached directly to the shaft 72, while the disk 76 drives the shaft 73 through a reversing gear to be explained. An endless one Cable or wire rope 77 is wrapped around and attached to pulleys 75 and 76 and around Reels 78 and 79 wound, which are fixedly arranged in the defense fighter 3 and by means of hydraulic Motors 80 and 81 are independently rotatable. The drum 74 is used in the anti-aircraft fighter 3 carried on pulley brackets 82, 83, 84 and 85 which engage rails or tracks 86 and 87 which attach to attached to the ends of drum 74 and shown in detail in FIG. The rope 77 slides along the drum 74 in guide rollers 88, which are shown in Fig. 21, but for simplicity in the other figures are omitted. The gear 89 rigidly attached to the drum 74 meshes with the gear 90 which carries an angle sensing device 91 which is supported in the frame 92 which is attached to the Airframe of the aircraft 3 is attached and the hydraulic motors 80 and 81 are mounted. The angle sensing device 91 indicates, in its electrical output value, the azimuth through which the drum has been rotated. Speed gyroscopes 212, 213 and 214, the input axes of which are perpendicular to one another, are on the housing 71 attached to measure the angular velocities of the antenna 22.

According to FIG. 20, the gear 93 is attached to the pulley 76 and drives by means of the gear 94 the angle sensing device 95 for the elevation angle. This discharge device gives with her Output value indicates the angle of elevation through which shafts 72 and 73 have been rotated. The pulleys 75 and 76 are connected by the shafts 72 and 73, the housing 71 and the gears 96, 97, 98 and 99, which form a reversing gear for a purpose to be explained later.

The operation of the plant described so far is best with reference to FIG. 22 in conjunction understandable with the other figures explained so far. It should be assumed that the existing direction of the antenna 22 and the housing 71 differs from the desired direction. Electrical signals proportional to the desired azimuth and elevation angle are fed to terminals 100 and 101, respectively. At the same time signals that correspond to the actual Lateral angle and the actual elevation angle are proportional, from the discharge device 91 derived for the lateral angle and the discharge device 95 for the elevation angle. It is it has been assumed that the desired azimuth is different from the actual azimuth. If the polarities of the desired angle signal and the actual angle signal are opposite a useful signal occurs whose sign corresponds to the larger of the two input signals corresponds to where the resistors 102 and 103 are connected to one another. This signal is over Resistors 104 and 105 are supplied to amplifiers 106 and 107 which control valves 108 and 109. These are connected to hydraulic lines that affect hydraulic motors 80 and 81. In the difference signal between the actual and the desired elevation angle occurs in the same way The junction of the resistors 110 and 111 is based on a direction amplifier 112 and resistors 113 and 114 passed to servo amplifiers 106 and 107, respectively. The movement of motors 80 and 81 is the algebraic sum of that of the discharge device for the circuit associated with the elevation angle and the signals received from that of the sensing device associated with the side angle

ίο circuit received signals proportional. How out As can be seen in FIGS. 18, 19 and 20, the motors 80 and 81 drive reels 78 and 79 at the required speed Direction to the antenna 22 and the housing 71 according to the electrical shown in Fig. 22 Shifting to the side or to raise or lower. If motors 80 and 81 are in Rotate in the same direction at the same speed, the useful movement is obviously the Antenna 22 merely changes the side angle. But if the motors 80 and 81 are in opposite directions Directions, but are actuated at the same speed, obviously only one takes place Change in elevation angle of the position of the antenna 22. To combine an elevation and azimuth change it is only necessary to specify the speed and - as will be explained below - the direction the hydraulic motors 80 and 81 to make different. Gears 96, 97, 98 and 99, the one Form reversing gears are provided so that the pulleys 75 and 76 are always in opposite directions Rotate directions. By this measure it is excluded that the rope 77 is on piling up one side or the other of the reels. The gears 97 and 98 are on at the Drum 74 attached stub shafts rotatably, while the gear 96 rigidly attached to the stub shaft 72 is attached. The gear 99 rotates with the pulley 75, which is on the drum 74 independently is rotatable by the shaft 72.

Thus, a device is created that the radar antenna in an aircraft in accordance with electrical Devices for rotating the radar antenna according to the lateral and elevation angles in every possible combination of angles. If the device is in the bow of the aircraft, can the housing 71, which contains the drive, which cause the antenna oscillation movements is to be fitted into the drum 74 in a very convenient and compact manner. The lack of great Bending moments and cantilevered sections makes the device structurally efficient, and everyone Elevation or side angles can be set quickly by simply applying the appropriate electrical signals can be obtained as shown in FIG. 22 is shown.

In this way, a radar system is together with devices for subsequent reporting of the radar system on target 2 to be pursued has been obtained. The output values of the radar system described here are, as will be explained below, together with the entire fire control computer and of the autopilot is used.

The flight data computer of the fire control system according to the invention determines the weight w or the mass m of the defensive fighter aircraft 3, the accumulation temperature of the air T ₀ , the static pressure P _s and the pressure difference AP between the dynamic pressure and the static pressure. The measured parameters

are used by computing devices yet to be described to induce shaft rotations which are proportional to the Mach number M, the airspeed V ₁ , the differential pressure Δ P and the static pressure P _{s of} the defense fighter 3, and to generate electrical voltages,

the air density ratio -, the pitch

kel a and the sliding angle β are proportional. o ₀ is defined in section 6-06 of the Eshbach Handbook of Engineering Fundamentals, first edition, John Wiley & Sons, 1936.

The x-, y- and z-axes of the anti-fighter aircraft 3 are defined in accordance with the NACA standards, which are specified on the back of the inner cover of the NACA report 420, which has the designation "Aircraft Speed Instruments" and is from the "Superintendent of Documents ”, 1941.

According to FIG. 23, a weight calculator 115 is connected to an accelerometer 116 . The z-axis accelerometer of the accelerometer 116 is located in front of the center of gravity of the defense fighter by a distance δ which is equal to the average moment of inertia I _{y of} the defense fighter about its y-axis through its center of gravity divided by a size that is equal to a predetermined one Average mass m 'of the defense fighter 3 multiplied by the average distance r from the center of gravity of the defense fighter to the center of pressure of the horizontal rear surface of the aircraft, ie

computing device 118, the Mach number computing device 120 and the air density computing device 121. The converter 122 for the value of the static pressure creates a shaft rotation, the P _s is proportional. The mechanically picked output value of the converter 122 for the static pressure is connected to the input of the Mach number calculator 120 . The Mach number calculator 120 generates a shaft rotation which is proportional to that Mach number M with which the fighter aircraft is currently flying. Mach number calculator 120 solves the equation

y-i

- 1

m r

The y-axis accelerometer of accelerometer 116 is forward of the fighter's center of gravity by a distance where γ is a constant equal to 1.4 for air. The mechanically acquired output value of the Mach number calculator 120 is connected to the input of the angle of attack calculator 117, the slip angle calculator 118, the air density calculator 121 and the airspeed calculator 123 . The airspeed calculator 123 solves the equation

M ² \ 1 + Oj M ² J '

where c is a known constant and T _{0 is} the dam temperature. The output value of the airspeed calculator 123 is a shaft rotation which is proportional to the airspeed and is connected to the input of the air density calculator 121 . The air density calculator 121 solves the equation

Qo

where Z ₄ (M) is the compression factor:

where I _{2 is} the average moment of inertia of the defense fighter 3 about its z-axis through its center of gravity and r is the average distance from the center of gravity of the defense fighter to the center of pressure of the vertical tail surface of the aircraft. The electrical voltage output values of the acceleration calculator 116 are proportional to the accelerations of the aircraft in the direction of the z-axis and in the direction of the y-axis of the aircraft, measured at the set-up points of the z-axis and y-axis accelerometers, multiplied by the total weight of the aircraft , ie ] ¥ η _ζ ' or Wrj _y '. (The exponent indicates that the perceived acceleration force is not caused by pure translational acceleration.) The electrical output values of the accelerometer 116 go to the input of the angle of attack calculator 117 and the slip angle calculator 118. A differential pressure transducer 119 produces a shaft rotation, the AP, measured a conventional pitot tube, not shown, is proportional. The mechanically taken output value of the differential pressure transducer 119 reaches the input of the angle of attack calculating device 117, the slip angle

The air density calculator 121 provides an electrical voltage output value which - pro-

is portional. The angle of attack calculator 117 solves the equation

«= TTs / iW +

where CX ₀ (M) is the angle of attack for zero lift and the moment zero, S is a constant proportional to the wing area of the aircraft 3, Z ₁ (M) is the compression _{factor / 4} (M) divided by the inclination of the lift characteristic of the aircraft 3, ie

and / ₃ (M) is an empirical function that takes into account the aeroelastic characteristics of the wing. The Anstellwinkelekechenvorrichtung 117 supplies a voltage output value, which for small angles α, for example

less than 15 °, is proportional to the value α. The slip angle calculator 118 solves the equation

ο _ ^Wr lv

where / ₂ (M) is an empirically determined function similar to Z ₁ (M) and predetermined for the particular defense fighter on which the computing device is to be placed. The output value of the sideslip angle device 118 is a voltage value that is proportional to β.

In the weight computing device 115 according to FIG. 24, the voltage source 124 is connected to the input of the amplifier 125 via the resistor 126 . The resistance of the feedback loop of amplifier 125 is changed by resistors 127, 128, 129 and 130 . The size of the resistor 127 is determined in accordance with the curb weight of the aircraft. The size of the resistor 128 is controlled, for example, by the amount of fuel in the aircraft's tanks. Resistors 129 and 130 are shorted by switches 131 and 132 when the missiles are fired. The output of amplifier 125 is proportional to the total weight of the aircraft and its load.

Referring to Fig. 25, a typical accelerometer 116 is shown. A voltage from the amplifier 125 shown in FIG. 24 is applied to the primary winding 133 of the transformer 134 . The voltage from winding 135 reaches opposite terminals of the inductance bridge, which consists of self-induction coils 137, 138, 139 and 140 , via resistor 136 . The accelerations in the direction of sensitivity of the accelerometer cause, for example, the inductance of coil 138 and coil 139 to increase while the inductance of coils 137 and 140 decreases, creating a voltage whose amplitude is the weight of the entire aircraft multiplied by the acceleration of the Aircraft is proportional in the direction of response of the accelerometer.

Differential pressure transducer 119 and static pressure transducer 122 are constructed in accordance with U.S. Patent No. 2,751,576. The output value of the transducer does not depend on the amount of displacement of the pressure-sensitive element, but on the balance between two forces that keep the pressure-sensitive element in its zero position. One of these forces is generated in the pressure-sensitive element by the input pressure. The other force is generated from the output by a feedback system.

A zero indicator, which can be designed with variable capacitance or inductance, is used for Used to display a deviation of the pressure sensitive element from its normal zero position. If the element is out of balance, a signal is sent from the null indicator network to a Given an amplifier circuit comprising a rotary drive device, e.g. B. an electromagnetic rotating element or motor. The rotary drive device moves due to the amplifier output current as long as the zero indicator shows that the condition is not balanced. A Part of the output of the torque device is sent to the pressure sensitive element as a correction factor returned. If the return is sufficient to restore the force balance, stops the movement of the rotary drive device. The desired change in current, voltage, the resistance inductance or the mechanically obtained output value of the shaft rotation is obtained from the output of the rotary drive device or from the output of the amplifier circuit, since the amplifier output current must be sufficient to generate the required torque of the electromagnetic rotary drive device or the motor.

In FIG. 26 and in the sectional view of the differential pressure transducer 119 shown in FIG. 27, the desired output value is a change in the resistance of the potentiometers 141 and 142 which is proportional to the difference in the pressures supplied to the connecting pieces 143 and 144. Housing 145, Bourdon tube assembly 146 and plate 147 enclose a pressure-tight chamber made up of chambers 148, 149 and 150 connected to one another. All external electrical connections to the transducer are made through terminal ends 151 of the pressure-tight base 152 . The connecting piece 144 is located in the plate 147 and forms a gate through which any desired pressure in the chambers 148, 149 and 150 and thus on one side of the Bourdon tube 153 can be produced. The connection piece 143 is attached to the Bourdon tube assembly 146 , whereby it is possible to pressure on the other side of the Bourdon tube

153 or, if the static pressure is to be measured, evacuate this side.

The Bourdon torsion tube 153 is sensitive to changes in the pressure difference between the connecting pieces 143 and 144. The movable (torque) end of the Bourdon tube 153 is rigidly connected to the armature 154 of the zero indicator 155. The return shaft 156 is also attached to the armature 154. The torsion spring 157 which consists of a fixed to spring plates 159 and 160 the torsion coil spring 158, transmits the torque to the feedback shaft 156 by means of the shaft slot 161 and the pin 162. The slot 161 allows axial movement of the Torsionsvorrichtungen, while the entire torque is transmitted.

Normally the torque of the torsion spring 157 is equal and opposite to the torque of the Bourdon tube 153, and the armature

154 is in its zero position, which indicates balance of forces. A change in the pressure difference causes the equilibrium to be broken. This, in turn, causes the armature 154 to rotate around the center line of the Bourdon tube 153 from its equilibrium position. The rotation of the armature 154 then brings the zero indicator 155 out of equilibrium. The zero indicator works inductively, for which purpose it consists of a stator and an armature 154 . If the zero indicator 155 is out of equilibrium, it sends an error signal through the terminal ends 151 to the power amplifier 163. In response to the error signal, the power amplifier 163 supplies energy to the motor 164. The direction of rotation of the motor 164 depends on the phase of the error signal away.

409 539/50

The motor 164 drives the transmission 165. The shafts serve as output shafts of the transmission 165 the potentiometer 141 and 142. The shaft of the potentiometer 141 or the potentiometer 142 can be extended to drive any number of resistors or potentiometers. One Another output shaft of the transmission 165 is the return shaft 166. The torsion spring plate 160 is attached to the return shaft 166 with a taper pin 167. The return shaft 166 is in such Direction driven so that the torsion spring 158 exerts a torque on the compensating armature 154, that seeks to turn it back to its zero position.

As the forces seek to establish equilibrium, the output voltage of the zero indicator decreases 155 until equilibrium is established with the initial value of the zero indicator there is just enough residual voltage to maintain the required current at amplifier 163, which generates the balancing torque required to maintain the state of equilibrium is. The motor 164 stops. The output shafts of potentiometers 141 and 142, the connected by gear drive to motor 164 have rotated through an angle, which is proportional to the pressure change. A spring stop device 168 prevents damage follower 158.

The device used in the example described to achieve a pressure proportional Shaft rotation works on the principle of zero deflection of the moving end of the Bourdon tube 153 uphold. Even a small deflection causes the return torque to set in, which in turn cancels the deflection. The amplitude of the deflections is thus kept very small. Since the size of the hysteresis error of the device depends on the deflection amplitude from the zero position depends, the hysteresis error is negligibly small.

In the differential pressure transducer 119 dynamic pressure is applied to the connecting piece 143 and static pressure is applied the connecting piece 144 introduced. In the static pressure transducer 122 is also static pressure is introduced at the connection piece 144, on the other hand, the chamber at which the Connection piece 143 is attached, evacuated and sealed. In either case, the rotation of the shaft 166 a measure of the pressure difference between the connecting pieces 143 and 144.

The Mach number calculator 120 is shown in FIG. 28 shown. Voltage is applied from voltage source 169 via a Wheatstone bridge, which consists of resistors 170, 171, 172 and 173. The variable resistor 170 is of the static pressure transducer 122 mechanically driven so that the size of the resistor 170 corresponds to the static Pressure is proportional. Resistor 171 is driven by differential pressure transducer 119, so that the size of the resistor 171 is the difference between the back pressure and the static pressure is proportional. Resistor 172 is a non-linear variable resistor, the is arranged to be driven by the motor 174. The motor 174 is powered by the booster 175 driven, the parallel to the exit of the Wheatstone bridge, which consists of the resistors 170, 171, 172 and 173 consists. The non-linearity of the magnitude of the resistor 172 is set so that the bridge is in the zero state when the shaft rotation of the motor 174 is proportional to the mach number of the aircraft.

The airspeed calculator 123 is shown in FIG. 29. The voltage source 176 is parallel to the input of a Wheatstone bridge, which consists of resistors 177, 178, 179 and 180. The size of the resistor 180 is proportional to the stagnation temperature of the air. The variable resistor 178 is mechanically driven by the Mach number calculator 120 so that the size of the resistor 178 is a predetermined function of the Mach number. The amplifier 182 is parallel to the output of the Wheatstone bridge, which consists of the resistors 177, 178, 179 and 180, and drives the motor 181 with a shaft rotation which is proportional to the airspeed. The non-linearity of the non-linear resistor 177 is chosen so that the shaft rotation of the motor 181 is proportional to the value V _1.

The air density calculating device 121 is shown in FIG. 30 shown. The voltage source 183 is connected in parallel the variable resistor 184 and the potentiometer 185 are connected. The Wave of Resistance 184 is driven by the Mach number calculator 120. The shaft of potentiometer 185 becomes driven by the differential pressure transducer 119. The movable arm of the potentiometer 185 is over the Resistor 186 connected to the input of amplifier 187. Resistor 188 is between the input of amplifier 187 and the ground terminal switched. The potentiometer 189 is at the output of amplifier 187 is connected. The shaft of the potentiometer 189 is determined by the airspeed calculator 123 powered. On the movable arm of the potentiometer 189 there is a voltage which is equal to the square of the vehicle's own speed changes. The movable arm of the potentiometer 189 is via the resistor 190 with connected to the input of amplifier 187, whereby the output of amplifier 187 through the Square of airspeed is divided. The output of amplifier 187 is the air density ratio —-- proportional.

The sliding angle calculating device 118 is shown in FIG. 31. A voltage proportional to Wη / is applied from the accelerometer 116 to the potentiometer 191. This is mechanically driven by the Mach number computing device 120 in accordance with the Mach number. The non-linearity of the resistance of the potentiometer 191 is that a voltage output value is obtained at its movable arm which Ψη / f is chosen. ₂ (M) is proportional. The movable arm of the potentiometer 191 is connected to the input of the amplifier 192 via the resistor 193. The output of amplifier 192 is applied to potentiometer 194. The movable arm of the potentiometer 194 is driven by the differential pressure transducer 119. The movable arm of the potentiometer 194 is connected to the input of the amplifier 192 via the resistor 195. The feedback loop through amplifier 192, which includes potentiometer 194 and resistor 195, divides Ψη / f ₂ (M) by a constant S multiplied by Δ P. Der

The resulting output value of the amplifier 192 is proportional to the slip angle:

sap

The angle of attack calculating device 117 is shown in FIG. 32 shown. A voltage proportional to Wt] ₂ ' is applied to both ends of the non-linear potentiometer 196. Resistor 120 is connected to a tap on potentiometer 196 and ground. The movable arm of the potentiometer 196 is driven by the Mach number calculator 120. The voltage on the movable arm of potentiometer 196 is connected to the input of amplifier 198 through resistor 197 and is proportional _{to Ψη 2} 'J ₁ (M) . The voltage, which is proportional to W-η ^ , is connected in parallel to resistors 199 and 200, which are in series. The junction between the resistors 199 and 200 is connected to one end of the resistor 201. The other end of the resistor 201 is connected to the potentiometer 208. This voltage is proportional to W ^ 'f _z {M) , where / ₃ (M) is taken as a constant. The voltage source 205 is connected to the potentiometer 206. The movable arm of the potentiometer 206 is driven by the Mach number calculator 120. The voltage on the movable arm of potentiometer 206 is proportional to a function a _o (M). The movable arm of the potentiometer 206 is connected to the potentiometer 208 via the resistor 203. The voltage source 205 is connected to one pole of the switch 204. The switch 204 is switched up or down, depending on whether the flaps of the defense fighter 3 are up or down. When the flaps are down, the voltage source 205 is connected to the resistor 202. When the flaps are up, resistor 202 is connected to ground. When the flaps are down, a voltage of a predetermined value is thus connected to the potentiometer 208, while when the flaps are up, the voltage is zero across the resistor 202 on the potentiometer 208. Thus, the voltage on potentiometer 208 is proportionally connected 198, dividing the input voltage to amplifier 198 by AP . Thus, the output voltage of amplifier is 198

Wr ₁ Jf ₁ (M)

SAP
proportional.

O OC - W) ₁ Jf ₃ (M) + OC ₀ (M) + K _x

The fire control calculator 4 is a course calculating device that works with the automatic course control device 6 and pitch target deviation signals and yaw target deviation signals supplies, whereby the course control device 6 controls the defense fighter 3 and causes a To follow lead failure or lead collision course in the direction of target 2. The fire control computer 4 is also used for the calculation for firing at the weapons. It is to the firing circuit 8 is connected and supplies a signal to this, whereby it initiates the firing of the missiles 10.

The vector equation that has to be solved continuously to determine the future target position or the lead point with reference to the defense aircraft 3 is to be predicted

Rk =

V _B T.

The vector relationship between ~ K _k , V _B T, and R ~ is illustrated in FIG. The range vector 7? K designates the vector from the current position of the defensive fighter aircraft 3 to the target at the point in time at which the target is hit, that is to say to the point of contact. The range vector Έ is the vector from the current position of the defense fighter to the current position of the target (measurement or launch point). V _B is the speed of the target. T is the total time it takes the anti-aircraft fighter 3 to reach the missile launch point plus the flight time T _{f of the missiles.} The speed of the defense fighter 3 is V ₁ and the average speed of the missiles is V _R.

It is more convenient to use the vector

to mechanize than the vector ^. You then get one Equation in speed units:

K _x ,

where K _{x is} the voltage obtained from resistor 202. The movable arm of the potentiometer 208 is driven by the differential pressure transducer 119. The movable arm of the potentiometer 208 is connected to the input of the amplifier 198 via the resistor 207. This voltage is proportional to

Wr ₁ JAPf ₃ (M) + APa ₀ (M) + APK _x .

Therefore, the total voltage input to amplifier 198 is Rk

R -r.

+ Vb-

When using these units in the fire control computer, it is easier to smooth the values, as will be explained later.

The speed gyroscopes 212, 213 and 214 shown in FIG are electrically connected to the fire control computer 4. The radar antenna is gimbaled according to the angular system of Fig. 34. The system comprising the radar and aircraft coordinate systems is the following:

Wr ₁ Jf ₁ (M) + Wr ₁ JAPf ₃ (M) +

+ APK _x

proportional. The output of amplifier 198 is connected to potentiometer 209. The movable arm of the potentiometer 209 is driven by the differential pressure transducer 119 and is connected to the input of the amplifier cos f cos μ - sinf cos, "
sin, "

sinf

cosf

-sin, "cosf sinf sin," cos, «

In this matrix the roll, pitch and side angle axes of the aircraft coordinate

systems the χ-, y- and z-axis. The /, / and k axes of the radar system have the / axis along the line of sight between the defense fighter 3 and the target 2. ί is the compass angle for the side and μ is the compass angle for the altitude. The gyroscopes 212, 213 and 214 are set up in such a way that they display the angular velocity of the antenna system about the / -, / - or λ 'axis. The electrical signals transmitted by the gyroscopes 212, 213 and 214 to the fire control computer 4 are proportional to these angular velocities, which are designated here by ω- _ν ω- or co _k . The fire control computer 4 determines the components of the target speed in the radar coordinate system.

Since the radar system locates target 2 itself, the range vector is always in the direction of the line of sight or / axis. As a result is

R = R Ϊ,

where ι represents a unit vector along the / axis. The target speed vector V _B is through

Vb =: R + V ₁

given, where V _{1 is} the aircraft speed and

- · -, - \

R = Ri + {ω- R)

is. The angular velocity ω of the radar coordinate system is expressed as

ω - ωι i + o)] j + o) jc k. Hence the components of ~ K are: R = Rj -f Jt O) IcJ - R ω _} Έ.

3 °

The components of the aircraft speed vector, expressed in x, y and z coordinates, are made very accurate by

V ₁ = V ₁ Tl + V ₁ βj + V ₁ OiZ

approximated, where 3c, y and ζ are unit vectors in the direction of the x, y and z axes, respectively. This equation assumes that α and β are relatively small and therefore approximately equal to sin α and sin β , respectively. The F _r components are then transformed into the radar coordinate system.

V ₁ = V ₁ [cos iF cos μ + ßsiniF - α sin «cos ξ] Ί

+ V ₁ [- sin I cos / t + /? Cos £ + asinf sin / <] j? + V ₁ [sin, «+ α cos //.] Έ.

The F ^ components are obtained by adding the respective component terms of λ and V ₁ . These F / r component members are noisy due to the noise in the radar tracker and are screened by a vector filtering system discussed below with reference to Fig. 37 and disclosed in U.S. Patent 2,805,022.

As already stated, the fire control computer and its prediction circuits calculate the desired course according to the equation

A, .V ₁₁

rp ' ryl \ ^V Il 5

where ~ K _{k is} the range vector between the current defense fighter position and a future target impact position, "R is the range vector between the current position of the defense fighter and the target, V _{B is} the target

65 is the speed vector and Γ is the time it takes the target to reach the future position, and the prediction circuits have vector summers which take the target speed vector magnitude V _B as the vector sum of the airspeed vector V ₁ , the distance difference vector Rl along the line of sight and the outer product of the radar angular velocity vector ω and the range vector ~ K.

Before the detailed explanation of FIGS. 35, 36, 37, the following is noted: FIG. 38 illustrates the basic geometric conditions (with reference to an individual component of the desired vector) on which the derivation of the error equation, which is solved by the fire control computer described, is based will. It can be seen from FIG. 38 that the error to be calculated, ie the error distance along the z-axis for the component shown as an example, is calculated as the additive and subtractive combinations of five different components or elements. The first of these is the z component R _{kz of} the range vector. The second is the distance traveled by the fighter aircraft, which for the small angle approximation is the product of the angle of attack α and the aircraft distance V ₁ T. A combination of these two first components gives a component R _{Az of} the lead distance vector. This term, divided by T, appears at the output of a resolver, as will be explained below. A third element of the elements which, according to the geometrical representation of FIG. 38 are combined to produce the error indication, comprises the missile tray, which is shown in Fig. 38 as the product of α and V _R T _f . Herein, V _{R is} the rocket velocity, which includes the component due to the aircraft velocity V ₁ , so that the relative rocket deposit in the z-direction is aV ₀ T _f , where V _{0 is} the rocket velocity with respect to the fighter aircraft. This missile offset is corrected for several factors, ie for slope, deflection or reorientation and descent caused by gravity, which are the fourth and fifth elements of the elements that are additively and subtractively combined to form the deficit.

The sinking due to gravitation is calculated with the circuit shown in FIG. 36, which contains the elements 399 to 403 . The longitudinal inclination deviation is calculated with the circuit according to FIG. 41, which also determines the product of α and - ^{V (} '^ - .

The essentials for the computation in the fire control device of the system according to the invention can be first of all explain with reference to Fig. 35.

According to Fig. 35, the electrical outputs of the speed gyroscopes 212, 213 and 214 are connected to the lowering device 215 , where shaft rotations are generated which oj _; , roj and ω _{έ are} proportional. A voltage proportional to the distance R between the defense fighter 3 and the target 2 is generated by the display device 19 of the radar device 1. The output of the display device 19 is connected to the input of the differentiator 216 and the modulator 217 . Of the

The input value at the differentiator 216 is differentiated so that an output value is produced which is proportional to R. The AC voltage source 219 is connected to the input of the modulator 217 and to the input of the differentiator 216 ; thereby the output from modulator 217 has an AC carrier and its amplitude is proportional to distance R. In the case of the computing devices according to the figures, as they are in the following

Input of resolver 229 connected. The other electrical output of resolver 231 is proportional to V _tl. The electrical outputs of resolver 229 are proportional to V _n and V, _k. The electrical output V _{n of} the resolver 231 and the electrical outputs V _n and V _{lk of} the resolver 229 are connected to the electrical input of the vector filter 218 . The electrical output V _{11 of} the resolver 231 is also connected to the electrical input of the

are described, alternating voltages io summing amplifier 225 can be connected. The electrical can be used, provided that the negative tric output V _{n of} the resolver 229 is also voltages in phase opposition to the positive voltages with the electrical input of the summing amplifier. The output of the differentiator 216 is connected to kers 223 and the electrical output of the vector filter 218 is connected. The output V _{lk of} the resolver 229 is also connected to the output of the modulator 217 is connected to the inputs of the 15 electrical inputs of the summing amplifier 224, multipliers 221, 222 and 227 . The led. The output values of the vector filter 218 mechanical input to the multiplier 227 are labeled ~ V _Bis , - V _Bjs, and _{- V Bks} . This is connected to a hit period servo device 226 (Time- s indicates that these are smoothed output values. Until-hit servo device, which records the time up to The outputs of the vector filter 218 are recorded with the time of the hit), which is connected to the 20 electrical inputs the summing amplifier 223, described in connection with FIGS. 36 and 39, 224 and 225 are connected. The lead distance R _A

is defined here as the vector from the anti-aircraft fighter 3 to the target 2 at the time of the missile or projectile impact. The electrical output of the summing amplifier 223 is connected to the electrical input of the resolver 228

den and proportional - φ--

will practice. The electrical output of the multiplier 227 is connected to the input of summing amplifier 223

connected and - = ■ proportional. The mecha-

Niche input to the multiplier 221 is with the
mechanical _"r output of the lowering device 215
tied together. The electrical output of the multiplier 221 is connected to the electrical input of the output of the summing amplifier 224 is connected to the electrical vector filter 218 and RcO ₁ is connected to the proportional input of the resolver 230 . The mechanical input to the multiplier
222 is the mechanical output of the servo amplifier 215. The electrical output of the multiplier 222 is connected to the vector filter 218 at j r> 1, _o ua j · <. closed and Rco _k proportional. The mechanical 35 ^{gear of the ReSOLvm 228 is connected and} inputs to the vector filter 218 are connected to the
mechanical <«, -> ω, - and oj ^ outputs of the lowering device 215 connected. Resolver 228 and 229
are driven by the shaft of the angle sensing device
91 mechanically driven for the side angle ξ. 40
Resolvers 230 and 231 are used by the wave of the

The electrical output

and - - = - proportional. The electrical output of the summing amplifier 225 is connected to the electrical input

proportional. One electrical output of resolver 228 is connected to the electrical input of resolver 230 . The electrical output

value of resolver 228, which is ' ψ - proportional, is fed to the electrical input of summing amplifier 235 . The electrical output of the

Resolvers 230, which is - ~ proportional to the

Angle sensing device 95 for the elevation angle
mechanically driven. Potentiometer 232, 233
and 234 are mechanically connected to the airspeed calculating device 123 (FIG. 29) 45 electrical input of the summing amplifier 236 and have a mechanical input that leads to V ₁ pro. The electrical output of resolver 230 is proportional. The electrical entrance to the
Potentiometer 232 is connected to the AC power source

their value

219 connected. The electrical entrance to the

γ is proportional, as in FIG. 36

is shown with the electrical input of the

Potentiometer 233 is connected to electrical output 50 hit period servo device 226 ,

of the sliding angle calculating device 118 (Fig. 31) According to Fig. 36, the hit period

connected. The electrical input to the lowering device 226 constantly keeps the prediction time until

Potentiometer 234 is the target 2 of the projectiles from the weapon with the angle of attack.

device 117 (Fig. 32) electrically connected. It is hit. The initial value of the meeting period

The following then results for the output values: 55 Servo device 226 is a mechanically removed

The electrical output value at the potentiometer 232 ",",,,. /. ,. ^.

mene shaft rotation, which - = - is proportional. the

V _{1 is} proportional. The electrical output value at potentiometer 233 is proportional to V ₁ β. The electrical output value at potentiometer 234 is proportional to V ₁ a.

The electrical output of the potentiometer 232 is connected to the electrical input of the resolver 231 . The electrical output of the potentiometer 233 is connected to the electrical input of the resolver 299. The electrical output of the potentiometer 234 is connected to the electrical input of the resolver 231 . The one electrical output of the resolver 231 is with the electrical

Time-of-flight servo device 238 continuously calculates the time of flight of the missiles and the distance between the defense fighter 3 and the target at the time of the hit. The output values of the time-of-servo device 238 are mechanically detached shaft rotation, the F ₀ T ₁ is proportional, and voltages - and Tf - F ₀ T / proportional, wherein

is. The yaw reorientation calculator 237 computes continuously a correction to the one

409 539/50

Angular reorientation of the missile to compensate for the yaw axis which occurs after the last left aircraft 3. The yaw reorientation computing device 237 does not compensate for gravitational forces acting on the rocket. The pitch reorientation calculator 239 or also called the pitch angle reorientation device, constantly calculates a correction to compensate that angular reorientation of the missile about the longitudinal axis which occurs after the last left the anti-fighter aircraft 3. The pitch reorientation calculator 239 however, does not compensate for the descent of the rocket caused by gravity. For making The meeting period servo device 226 constantly receives one of the aforementioned invoices

Voltage, which £ - is proportional to that of in

35, resolver 230. The hit period servo 226 also receives a voltage _{proportional to - F 0} T _} from the flight time servo 238. The output shaft rotation of the hit period servo

device 226, which is ^ = proportional, is with the

Input of pitch reorientation calculator 239, yaw reorientation calculator 237, multiplier 227 (Fig. 35) and the movable arm of variable resistor 396 are connected. The time-of-flight servo device 238 also receives an electrical signal proportional to K · sin Θ from the resolver 397, which is connected to the vertical gyroscope 7 measuring the pitch angle Θ. In this equation, K is an arbitrary constant. Other electrical inputs to the time-of-flight servo 238 are a voltage proportional to T ₁ , which is the average temperature of the rocket's propellant,

and a voltage which is - proportional and which

Qo

comes from the air density calculating device 121. The shaft rotation of the time-of-flight servo device 238 representing the output value, which is proportional to V ₀ T _f , goes to the input of the yaw reorientation calculator 237, the pitch reorientation calculator 239 and the potentiometer 399. In addition to the aforementioned input with mechanically removed shaft rotation, the yaw reorientation calculator 237 has a further shaft rotation input , which is proportional to V ₁ , and a voltage input proportional to β and -β from the flight data calculator 5. The output of the yaw reorientation calculator 237 is connected to the input of the summing amplifier 235 shown in FIG. In addition to the aforementioned inputs with mechanical shaft rotation, the pitch reorientation calculator 239 has mechanical shaft rotation inputs which are proportional to P _s and V ₁ , as well as voltage inputs proportional to α and -α from the flight data calculator 5 and an input which corresponds to the direction angle σ of the rocket launch tube (Fig. 38 ) is proportional. The output of the pitch reorientation calculator 239 is connected to the input of the resolver 236 shown in FIG. 35. The resolver 397 is connected via a shaft to the vertical gyroscope 7 measuring the pitch angle Θ of the aircraft 3. The resolver 397

40

45 generates electrical output signals that are equal to K · sin Θ and K · cos Θ . The signal, which is proportional to K ■ sin Θ , is applied to the input of the time-of-flight servo device 238. That output value of the resolver 397 which is proportional to K * cos θ is passed to the potentiometer 399. The movable arm of potentiometer 399 is mechanically driven by the output of time-of-flight servo 238. The movable arm of the potentiometer 399 is electrically connected to one end of the resistor 400. The other end of resistor 400 is connected to the input of amplifier 401 and to one end of resistor 402. The other end of the resistor 402 is connected to one end of the resistor 403 and to the movable arm of the variable resistor 396. The other end of the resistor 396 is connected to its movable arm and thus short-circuited. The other end of the resistor 403 is grounded. The output of the amplifier 401 is to the variable resistor 396 as well as to the resolver 398

connected and is - = - cos Θ proportional, where

G is proportional to the sinking of a rocket projectile in a bullet plow due to gravity. The resolver 398 is mechanically connected to the vertical gyroscope 7, which also measures the roll angle Φ. The resolver 398 generates, as output values, voltages such as are required to compensate for the descent of the rocket as a result of gravity, as described further below with reference to FIG. 38 will be explained later. For this purpose, the electrical output values of the resolver 398 are the values

-—- cos Θ cos Φ and -— cos θ sin Φ proportional. The electrical outlet that

ψ COS θ COS Φ

is proportional to the input of the in Fig. 35 summing amplifier 236 shown. The electrical outlet that

^ r cos θ sin Φ

is proportional is to the electrical input of the summing amplifier 235 shown in FIG connected.

As a result of the natural properties inherent in radar and the transmission and reception of radar signals The signal from the radar system has so-called "noise" fluctuations, which must be reduced or sifted out. In the example under consideration, the coordinate system is in which the distance vector to the target is measured, not fixed in space, but rotates, since the radar device used to measure the target speed vector is generally a rotary and a Subject to translational movement in space. As a result, a simple differential quotient feedback filter would provide a feedback component as a result of the rotation of the coordinate system as a result of the radar system. This would be an undesirable result as it may have more serious errors than the one to be eliminated Would introduce noise. At the fire control system

In accordance with the invention, a vector filter is used to smooth the target velocity vector in a manner equivalent to smoothing in a non-revolving coordinate system without transforming the vector from one coordinate system to the other. The target speed vector is a real vector quantity with direction and magnitude. According to FIG. 37 voltages which are proportional to co *, Ca ₁ and a> _k are applied to the input of the servo device 215. The tension is passed to the amplifier 240, which drives the servomotor 241 with a shaft rotation that is exactly proportional to ω *. The cuss input is provided to amplifier 242 which drives servo motor 243 with shaft rotation precisely proportional to cu _k. The ω, input is connected to the amplifier 244, which drives the servo motor 245 with a shaft rotation which is exactly proportional to coj. As has already been stated, the electrical output values of resolvers 229 and 231 (FIG. 35) are V _n , V _u and Vi _k , which are the speed components of the defense fighter 3 along the i, j and ^ axes of the radar coordinate system. When these components are combined vectorially, they provide the aircraft speed vector. Thus, the radar system 1 gives voltages which, in the case of vector combination, supply the target speed vector with reference to the defense fighter 3, and the resolvers 229 and 231 supply voltage values which, in the case of vector combination, represent the aircraft speed vector with reference to a non-rotating coordinate system. When these vectors are added together, the target velocity is obtained with reference to the inertial space. This vector is useful for calculating the fire control problems of the defense fighter 3. However, it is useful that the voltages which are characteristic of the absolute speed of the target 2 are smoothed or screened in order to reduce the noise. 37, a voltage proportional to R is passed through the resistor 246, and a voltage proportional to ν _α is passed through a resistor 247 and both are fed to the input of the amplifier 248, the output value of which is a voltage V _bis , that of the component of the target speed is proportional along the i-axis. The amplifier 248 is set up in such a way that a positive and a negative voltage proportional to V _Bls is generated as its output value. This voltage is applied to the differential quotient network

249, which provides an output voltage proportional to Vbis. The positive output and negative output of amplifier 248 are with the opposite poles of the potentiometer

250 and the potentiometer 251, the switching arms of which are connected by shafts to the servomotors 243 and 245 so that they are rotated into positions which co _k and <y _; · Are proportional. The output values of these potentiometers are therefore proportional to a> k VRi or ω / V _Bi.

In the same way, a voltage which is proportional to Rco _k is applied from the radar system 1 via the resistor 252 and a voltage which is proportional to V _n via the resistor 253 to the input of the amplifier 254, the output values of which are + V _Bjs 6g and - _{Vβj S} , these output values being fed to the ends of potentiometers 255 and 256, the contact arms of which are rotated to positions corresponding to angular velocities w _k and ω _; are proportional. The output of amplifier 254 is also connected to differential quotient network 257 which provides an output value equal to vb; _{s is} proportional.

Finally, a voltage which is proportional to Ra) ₁ is applied by the radar system 1 via a resistor 258 and a voltage which is proportional to V, _k via a resistor 259 to the input of the amplifier 260, the output voltages of which are then + V _Bks and - V _Bks are. These output voltages are supplied to the ends of the potentiometers 261 and 262, the contact arms of which are rotated to positions which are proportional to the angular velocities ω, - and ω, respectively. The output values of these potentiometers are then proportional _{to ω 7} V _Bkß or W ₁ V _Bkß. A voltage proportional to V _Bks is also applied to differential quotient network 263, the output of which is then a voltage proportional to y _Bks.

The output values of the potentiometers 255 and 261, which are m _k V _Bjs and ω j V _Bks , respectively, are added to the output values of the differential quotient network 249 routed via resistors 264, 265 and 266, respectively. The combined voltage is then fed back to the input of amplifier 248 via resistor 267 and potentiometer 268. The above index designation s indicates that the expression it is used for is a smoothed quantity. This smoothing is effected by the described feedback process, so that the differential quotient network 249 and the other mentioned differential quotient networks actually operate on a smoothed speed component.

In the same way, the output values of the potentiometers 250 and 262, namely to _k V _Bis and ω, ·, P Bks are added to the output voltage of the differential quotient network 257 via the resistors 269, 270 and 271 and the resistor 272 and the potentiometer 273 and from there to the input of the amplifier 254.

Finally, the output values of the potentiometers 251 and 256, namely voltages that are proportional to <*> i V _Bis and ω * V _Bjs, are added to the output voltage of the differential quotient network 263 via resistors 274, 275 and 276 and from there via the resistor 277 and the potentiometer 278 are fed to the input of the amplifier 260.

In order to appreciate the operation of the circuit just discussed, it is useful to consider the mathematical operations that have been performed. In brief summary, it has been achieved that the target speed vector has been smoothed by introducing a feedback element which is proportional to the true vector derivative of the smoothed target speed. The vector derivative of the smoothed target speed has been divided into components along the i, j and & axes and can be represented as such as the sum of various scalar quantities, as given in the following equations:

VBU = VBU + COf VBU - COk

VBp - Vbjs + COk VBis - coi V _B ks,

VBU = VBU + COi Vbjs - COj VBis ■

Since the true vector derivative has been taken and not a merely scalar derivative, there is a

39 40

real sieving of the target speed vector opened up. A voltage that - V ₀ T _{1 has been} proportionally adjusted. A more complete smoothing can naturally be achieved by the time-of-flight servo device 238 in that the theory (FIG. 40) applies second and third differential quotients to one end of the potentiometer 293. The potentiometer 293 is mechanically driven by the servo coupling to the inputs of the amplifiers 248, 254 5 motor 294, which is expanded with the output and 260. output of the servo amplifier 291 electrically connected The geometrical basis for the longitudinal is. The voltage on the movable arm of the pitch error signal for a lead collision course potentiometer 293 is to be determined by - V ₀ , -fold the WeI - are illustrated in FIG. 38. The rotation of the motor 294 is proportional. These arm angles are exaggerated in this diagram. In Fig. 38, the present aircraft servo amplifier 291 is connected. When the shaft position is shown on the left of the figure where the _{dhd M} ^ p _roportiona i is _to '_> lines converge. The x-direction, which runs along ^{& B v F} Γ 'of the roll axis of the aircraft, is through which then applies R _Ax = V ₀ T ₁ . In fact, the upper horizontal line shown differs. A projection 15 V ₀ T ₁ of R _{Ax by} only a small error signal, that of the range vector Tl _k, is shown by the nature of the vector 279 of the operation of a servo loop. The component of 2? _ft in the ^ direction, adheres. Thus, the shaft rotation of the motor 294 is namely tip, is represented by the vector 280 illus- _rtional I _{One end of the} light-p _{otentiometers} 205th The component of R _k in the z-direction of the ^{v F} T

The aircraft, namely ~ K _kz , is connected by line 281 to 20 is connected to a positive voltage. That indicates. The direction of the aircraft speed V ₁ at the end of the potentiometer 295 runs along the vector 282, the direction of which is the movable arm of the potentiometer 295 short-circuited from the x direction by the angle of attack a and differs with one end of the resistor 296. At point 283 along the path of the tying. The other end of the resistor 296 is a military fighter, the x-axis is connected by the line 25 to the ground terminal. The potentiometer 295 284 represents. The direction of movement of the defensive aircraft 3 is mechanically connected to the servomotor 294 is shown by the line 285 and is driven by this. The voltage on sets that differs from the line 284 around the set-off the movable arm of the potentiometer 295 is angle α. The line 286 indicates the reciprocal of the shaft rotation of the motor the direction along the missiles from the defense 30 294 and therefore T proportional. The movable arm fighter aircraft 3 are shot down. The line 286 of the potentiometer 295 is also connected to the counter differs from the line 284 by one stand 297. The exit end of the re-angle σ, which represents the angle, which stand 297 therefore has a tension that T proportional to the missile launch tube forms with the x-axis. Which is tional.

Quantity j, which is called the launch factor, is 35. The time-of-flight servor device 238 is shown in detail as a function of the static air pressure P _{s of} the flights in FIG. When the gear speed switch V ₁ and the propellant temperature 298 are in the lower position, the flight time is T _p . For the changes in the servo device 238 to a lead collision of the propellant temperature, which can be assumed to be small, the effect of the course of the defense fighter 3 can be adjusted. A propellant temperature to the value of s vemach- 40 positive voltage is at one end of the potential to be allowed. When a missile is launched, meters 299 and the other end is grounded. The pilot of the defense fighter 3 sets the steering by hand, but tries to bring potentiometer 299 to a given value V ₀ T ₁ along the line 285 in the direction of the air flow. The amount by which a. This is the time at which the missiles hit the missile's heading changes in order to bring the missile 45 calculated distance from the defense fighter 3 in the direction line 285, is a fractional to target 2. The movable arm of the potentiometer part / the difference between the Angles α and σ. 299 is connected to the input of the servo amplifier 300 via If no gravitation were to act on the rocket, the resistor 301 and the switch 298 would thus be connected along the line 287. The servo amplifier 300 drives the servo motor made to fly orbit. However, gravity causes its shaft rotation to V ₀ T such that the missile continues to descend onto line 288, which is proportional. A potentiometer 303 is opposite the line 287 a proportional deviation between a negative voltage and earth, where tional to G · cos Θ · cos Φ has. The target position is located on the movable arm of the potentiometer 303 by which the time the missile is to hit, the shaft of the motor 302 is driven. The moves at point 289, but the rocket arm of potentiometer 303 is at 290 when it is in position. The difference between the output of amplifier 300 via resistor 304 point 289 and 290 is the error distance M _z . M ₂ is connected. When the voltage on the movable made as small as possible to hit the target by the arm of the potentiometer 303 equal to the voltage on missiles. is the movable arm of the potentiometer 299, the impact period servo device 226 is shown in FIG. 39, V ₀ T ₁ is tional. The movable arm of the potentiometer, the input to the servo amplifier 291 via the 303, is also connected to the potentiometer 293 (Fig. 39) resistor 292 on the resolver 230 (Fig. 35).

- ^ -, V ₁ , V ₀ T ₁ ) + MV ₀ Tf, T _p ) + / ₄ (F ₀ Τ ,, Θ).

fv U> / 3 ^{un <} * h ^{sm (} i empirical functions that are mechanized ext. 305, 306, 307, 308 and 311, experimentally by suitable setting of the potentiometer. The function J ₁ represents the change in T ₁ with V ₀ T ₁

at certain values of air density ratio, propellant temperature, aircraft speed and descent angle represents zero. The function f ₂ represents the effect of the changes in the air density ratio and the aircraft speed on T _1. The function / ₃ represents the effect of changes in the propellant temperature of the rocket on T ₁ . The function / ₄ illustrates the effect of changing the angle of descent or ascent Θ. Therefore, in Figure 4, potentiometers 305, 306, 307 and 308 are not necessarily linear potentiometers; their movable arms are driven by the servo motor 302. The electrical input to potentiometer 305 has a positive voltage. The movable arm of potentiometer 305 is connected to the input of amplifier 309 via resistor 310. The movable arm of the potentiometer 311 is mechanically driven by the airspeed calculator 123 (FIG. 29). The electrical input to the potentiometer 311 is connected to the air density calculator 121 (FIG. 30). The movable arm of the potentiometer 311 is short-circuited to that end of the potentiometer 311 which is opposite to the connection with the air density calculating device 121. This movable arm is connected to the electrical input of the potentiometer 306. The movable arm of the potentiometer 306 is also connected to the input of the amplifier 309 via the resistor 312. A voltage is applied to the electrical input of the potentiometer 307, which voltage is proportional to the propellant temperature of the missiles. The movable arm of the potentiometer 307 is also connected to the input of the amplifier 309 via the resistor 313. The electrical input of the potentiometer 308 is connected to the turret 397 (FIG. 36) and is fed with a voltage which is proportional to K · sin Θ. The movable arm of the potentiometer 308 is also connected to the input of the amplifier 309 via the resistor 314. The electrical output values of the potentiometers 305, 306, 307 and 308 are summed by the summing amplifier 309, so that a voltage is produced at the output of the amplifier 309 which is equal to -T ₁ . The output of amplifier 309 is passed through resistor 315 to resistor 297 (FIG. 39) and to switch 298. A voltage proportional to TT ₁ is applied to firing circuit 8 through switch 298. When T = T _f , there is no voltage on the firing circuit 8; at this moment the missiles are automatically triggered. When switch 298 is in its upper position, resistor 315 is connected to the input of amplifier 300; on the other hand, the potentiometer 299 and the resistor 301 are disconnected from the input of the amplifier 300, and no signal is given to the firing circuit 8. The amplifier 300 drives the motor 302 so that a V ₀ T i is established which makes T = T ₁ .

The pitch reorientation calculator 239 is shown in detail in FIG. The potentiometer 316 is connected between a negative voltage source and earth and is mechanically adjusted according to the angle α of the rocket launcher. The movable arm of potentiometer 316 is connected to node 318 via resistor 317. The resistor 319 is connected between the node 318 and the angle of attack calculating device 117 (FIG. 32). Resistor 320 is between node 318 and ground. The stress at node 318 is proportional to (σ - α). The voltage (σ - α) is applied to one end of the potentiometer 321 which is mechanically driven by the static pressure transducer 122. The potentiometer 321 is connected to one end of the potentiometer 322 which is driven by the airspeed calculator 123 (FIG. 29). As already stated, the launch factor / is a function of P _s and V ₁ . The voltage on the movable arm of potentiometer 322 is proportional to (1 - f) (σ - α). Potentiometer 322 is grounded through resistor 323, and the movable arm of potentiometer 322 is connected to the input of amplifier 324 through resistor 325. The amplifier 324 is a feedback amplifier, and for this purpose the resistors 326, 327 and 328 are connected between the output and the input of the amplifier 324. The output of amplifier 324 is connected to node 330 via resistor 329. The angle of attack device 117 (FIG. 32) has its negative terminal connected to the node 330 via the resistor 331. The voltage at node 330 is

The node 330 is connected to the potentiometer 332, which is on the other hand grounded. The potentiometer 332 is mechanically driven by the time-of-flight servo device 238 (FIG. 40) in accordance with V ₀ T _1. The movable arm of the potentiometer 332 is connected to the input of the amplifier 333 via the resistor 334. The voltage on the movable arm of potentiometer 332 is

[(If) (ao) -a] V ₀ T _f

proportional. The output of amplifier 324 is also connected to potentiometer 335. The potentiometer 335 is mechanically driven by the airspeed calculator 123 (FIG. 29). The movable arm of the potentiometer 335 is connected to the potentiometer 337 via a resistor 336. The potentiometer 337 is also driven by the time-of-flight servo device 238 (FIG. 40) according to the value V ₀ T ₁ . Since T _{f is} a function of V ₀ T _f , the linearity of the potentiometer 337 is adjusted such that the potentiometer 337 multiplies its input value by T i. Thus, the voltage on the movable arm of the potentiometer 335 is closed

a-f) (a ~ -a) V,

proportional, and the voltage on the movable arm of potentiometer 337 is

(1- f) (a -O) V ₁ T,

proportional. The movable arm of the potentiometer 337 is also connected to the resistor 338 Input of amplifier 333 connected. Of the

409 539/50

43 44

Amplifier 333 is a feedback amplifier, connected to potentiometer 340, which is controlled by the

for this purpose the resistor 339 lies between the _{time period} . _S ervo device 226 according to the value 1 output and the input of the amplifier 333. The ^BB T amplifier 333 adds the voltages that is driven at the. The tension on the movable movable arms of potentiometers 332 and 337 5 arm of potentiometer 340 is the pitch line. The output of amplifier 333 is to the reorientation function

[(I - Ma - o) - alV ₀ T, _ (1 - Ma - o) V, T, _TT

The yaw reorientation calculator 237 is being multiplied. Thus, the voltage across the is shown in detail in FIG. The potentiometer- movable arm of the potentiometer 345
meter 341 is connected to the positive terminal of the sliding - (i - j) V, T,
angle rake device 118 (Fig. 31) connected. The potentiometer 341 is proportional to the flight time 15. The movable arm of the potentiometer lowering device 238 (FIG. 40) is mechanically 345 also coupled to the via the resistor 347 and is driven according to the value V ₀ T ₁ . Connected to node 342. The voltage on the In in the computing device of FIG. 42 becomes the down node 342 is proportional to
weft factor / assumed as a constant. Of the

movable arm of potentiometer 341 is about the 20 - [(I - /) V ₁ 7> - / F ₉ Tf] β.
Resistor 343 connected to node 342. The voltage on the movable arm of the node 342 is proportional to the potentiometer potentiometer 341 is +/- V ₀ T, β. The 348 connected whose movable arm of the potentiometer 344 is connected to the negative terminal of the fail period servo apparatus 226 (Fig. 39) ge-shift angle calculating device Toggle 118 (Fig. 31) 25 _ß I is ieben _{mechanically angetr.} The voltage is closed and is determined by the airspeed T ^a

The computing device 123 (FIG. 29) is mechanically attached to the movable arm of the potentiometer 348

drove. The tension on the movable arm of the yaw reorientation function
Potentiometer 344 is proportional to - (1 - /) V ₁ β.

The movable arm of the potentiometer 344 is at 30 - /? ΓΠ - A F T - / F Π

the potentiometer 345 via the resistor 346 ■ ' ^u ■''- ■ ° ■ ·
bound. The potentiometer 345 is of the time-of-flight servo device 238 (FIG. 40) according to the

Value V ₀ T ₁ mechanically driven. Since T _{f is} a Fig. 38, it follows that the sine of each of the

Function of V ₀ T ₁ becomes linearity of the potentio- 35 angle in FIG. 38 in a first approximation is the same as that

meters 345 so that the tension is at the value of the angle, the pitch component

movable arm of the potentiometer 344 with T _{f of} the error distance to

M ₂ = R _kz - a V ₁ (T - T ₁ ) ~ α V _R T _f + (1 - f) (a - a) V _R T _f - G cos Θ cos <PV _R T _f .
In the same way, the yaw component is the error distance

M ₃ , = R _ky ~ ßV, (TT _t ) -ßV _R T, + (l- f) ßV _R T, - G cos θ sin Φ V _R T _f .
The control deviation signals are as speed components

M _z , My

T ^and T

and are referred to below as ε _ζ and ε ^.

- cc —7 = ^ - + [(I - /) (oi-a) -G cos Θ cos Φ] —γ ^ ·

VR Tf

% = [-ψ- -β V ₁ ) -β W + [(I - /) (β-G cos Θ sin Φ] ~ -ψ.

According to FIG. 35, a signal - ^ f is connected to the ^6o device 6 and is proportional _{to f.} One

Summing amplifier 235 of the resolver 228 ^{is proportional to S} P ^annun S ' ^ ~ f , is of the

supplies. The yaw reorientation signal from yaw resolver 230 to summing amplifier 236

The reorientation device 237 arrives at the sum. The pitch reorientation signal goes

mier amplifier 235, and the G cos Θ sin Φ output 65 from the pitch reorientation calculator

of the resolver 398 is connected to the summing amplifier 239 at the input of the summing amplifier

ker 235 delivered. The output of the summing 236. The G cos (-) cos Φ output of the resolver 398

Amplifier 235 is with the automatic course control - is also with the input of the summing amplifier

45 46

236 connected. The output of the summing amplifier, which is proportional to the position of the stabilizer of the Abwehrjagd-236, is also proportional to the automatic course control device 3, is connected to the input of the direction 6 and is ε _ζ proportional. Summing amplifier 354 connected. So that is

Output of amplifier 354 the difference between

The automatic course control device 6 is between the 5 desired and the actual position see the fire control computer 4 and the airframe of the stabilizer of the anti-fighter aircraft 3 prodes Abwehrj agdflugzeuges 3 arranged to make the flight portional.

of the defensive fighter 3 in response to the target

control deviation signals. device 350 is shown in FIG. The resistance

According to FIG. 43, the pitching speed 358 is connected to the weight calculating device 115 limiter 349 with the longitudinal inclination target deviation (FIG. 24) and receives a signal output ε _{ζ of} the fire control calculating device 4 from this which is proportional to l / m m bound the mass. The defense fighter 3's pitch speed input is. The other end of the computing device 350 is connected to the Mach number computing device. The resistor 358 is connected to the amplifier 359. Direction 120 and the pressure transducer 122 for the 15 The voltage source 406 is connected via the resistor to static pressure. The output of the 407 connected to the input of the amplifier 359 - pitching speed calculating device 350 is denoted by sen. The resulting output voltage 359 is electrically connected to the input of the pitching speed limiter 349 voltage of the voltage source reduced by one. The constant from the computing device times m proportional. The output of the maximum permissible pitching speed amplifier 359 calculated from 350 is sent to a non-linear potentiometer containing the pitching speed at which the 360, which is mechanically connected to the Mach number calculating device for the defense fighter 3 in the covered aircraft, is 120. The movable arm was reached, and a size that depends on the construction of the potentiometer 360 on the non-linear strength of the anti-fighter aircraft 3. Potentiometer 361 switched, which is controlled by the pressure The pitching speed limiter 349 limits the converter 122 for the static pressure mechanical deviation signal «? ₂ according to the output & _{n being} driven. The movable arm of the potentio computing device 350. The output of the nodometer 361 is connected to the input of the limiter 362, the speed limiter 349 is connected to the input of the. The signal is connected to the movable arm of summing amplifier 351. The pitching potentiometer 361 is the maximum permissible pitching speed gyroscope 352 with the airframe of the 30 speed, which, when exceeded, connects the anti-defensive fighter 3 and measures its defensive fighter 3 is overrun. The input of the pitching speed ®. The electrical output of amplifier 363 is connected to the accelerometer gyroscope 352, which is connected to the input of summing device 116 (FIG. 25), and is connected to amplifier 351. The output of the ver this is a signal that is proportional to the acceleration of the amplifier 351, the difference between the desired accelerometer in the z-direction and the measured pitching speed. The output of amplifier 363 is proportional to the anti-fighter 3 aircraft. The output potentiometer 364 is connected. The movable arm of the summing amplifier 351 is connected to the input of the potentiometer 364 is connected to the natural speed integrating device 405, the structure of which is driven and operating mode 123 (FIG. 29) is described below. The 40 ben and is connected to the input of the amplifier 363 integrating device 405 provides a longitudinal inclination via the resistor 365 electrically connected. The signal for the steady state produced by the stabilizer output value of the amplifier 363 is to trim the defense fighter 3, so that the correct angle of attack for the airframe is established multiplied by η _ζ and divided by V ₁ proportional, which is the. Investigations on simulators have established that the maximum constructively safe pitching speed is the control variable for the anti-fighter aircraft 3. The output of the area as a function of Λ P for the most efficient amplifier 363 is also connected to the input of the control and fastest control of the Abwehrj agdflugzeuges 3 limiters 362, which has to be changed by a conventional diode. Therefore, the output is the limiter which alternately selects the smaller integrating device 405 with the input of 50 of its two input signals. The variable gain output circuit 353 of limiter 362 is connected to the input of the sum. The electrical output of the circuit mier amplifier 366 is connected. The resolver 367 is 353 connected to the input of the summing amplifier 354 between the vertical gyroscope 7 and the airframe. The signal which is transmitted from the circuit 353 of the aircraft 3 along the roll axis of the defense to the summing amplifier 354 is switched to the fighter aircraft and provides an elekder desired position of the stabilizer of the Irish output, which is proportional to the cosine of the longitudinal defense fighter 3. The output of the angle of inclination Φ of the aircraft 3 with respect to summing amplifier 354 is connected so that it is proportional to the local perpendicular. The cos Φ amplifier 355 stabilizes the energy for loading. Output of the resolver 367 is connected to the input of the actuation of the valve and actuator 356 via the resistor 370. The output of amplifier 355 is connected to the. The voltage applied to the input of the amplifier 369 at the input of the valve and actuating element 356 is —g · cos Φ proportional, closed. This moves by means of a hydraulic where g is the gravitational acceleration. The stabilizer of the defense fighter flight path of the amplifier 369 is attached to the potentiometer 3. The position pick-up device 357 is attached to 65 meters 373, the counteracting stabilizer of the defense fighter 3 mechanically driven device 123 (Fig. 29) to find its position. That will. The movable arm of the potentiometer 373 electrical signal from the tapping device 357, is via the resistor 374 to the input of the

Amplifier 369 is connected to effectively divide the output of amplifier 369 by V _1. The output of amplifier 369 is connected to the input of summing amplifier 366 and is thereby subtracted from the output value of limiter 362. The magnitude of the signal from amplifier 369 is proportional to the force required to operate the airframe without maneuvering. The output of the summing amplifier

Input of summing amplifier 383 connected. The output of summing amplifier 383 arrives the input of the rudder amplifier 384, the output of which goes to the input of the valve and Be-5 operating body 385 goes. This is by means of a hydraulic system with the rudder of the aircraft 3 mechanically connected. The position pick-up device 386 is connected to the rudder of the Aircraft 3 mechanically connected and measures

366 is Θ _ηι proportional and its position at the input of the io. The electrical output of the pitch speed limiter 349 is connected to the position pick-up device 386 as explained above. Position of the rudder of the aircraft 3

In Fig. 46, the integrating circuit 405 is controlled in. The initial value of the pick-up device shown. The input of amplifier 375 device 386 goes to the input of amplifier 383. is with the output of summing amplifier 351 15 Therefore, the output of amplifier 383 is

proportional to the difference between the desired rudder position given by the output signal of circuit 382 and the actual rudder position represented by the

tied together. The amplifier 375 drives the motor 376 at a speed equal to the output signal of summing amplifier 351 is proportional. The shaft rotation of the motor 376 is the integral

of the signal from the summing amplifier 351 proportional to the output of the pickup device 386 is shown. tional. At the potentiometer 377, which if the defense fighter 3 is mechanically driven about its yaw motor 376, is an axis, it must be constant voltage by the appropriate value. The tension on the moving arm of the potentiometer 377 to roll its roll axis to prevent sliding is the integral of the. The output signal e _{y of} the fire control calculator of the input voltages to the amplifier 375 25 device 4 is proportional to the input of the differentiating device. The movable arm of the potentiometer 387 is placed. The output of the differentiating device 377 is connected to the input of the alteration 387 is connected to the input of the circuit 353 operating with summing amplifiable gain via core 388, which is also connected to the resistor 378 for sliding angle. The output of the computing device 118 (Fig. 31) is connected. Summing amplifier 351 is connected to the input of 30. The output value of summing amplifier 388 is proportional to _switching β + 8y operating with variable gain. The output value of the device 353 is thus connected via the resistor 379. Summing amplifier 388, if no angle-fast changes in the deviation signal deviation e _y are present, only β proportional output of the amplifier 351 run through the and requires a rolling speed of the defense resistor 379 to the input of the circuit 353 35 fighter aircraft 3 to the slip angle β upright with variable gain. Deviations that receive. By tests on simulators over a considerable period of time compared with the, it has been found that the amplification of the off time constant of the integrating device, which consists of the input value of the amplifier 388 according to the amplifier 375 and the motor 376, acceleration of the anti-fighter aircraft 3, namely last, have the effect that the position of the arm of the 40 η _ζ '_, measured with the accelerometer potentiometer 377, must be set to an essentially fixed position 116 (FIG. 25). The tion assumes that a bias is supplied to the input output of the summing amplifier 388 with the variable gain input of the variable gain circuit 353 so that the pitch is connected to the circuit 389. The input of the circuit operating with the defense fighter 3 to an angle of attack 45 variable gain is set which is just suitable for the flight conditions under which the aircraft is also with the accelerometer. 116 (Fig. 25) connected. In FIG. 44, the yaw deviation signal e _y from circuit 389 is proportional to the desired roll speed of the fire control computer 4 at the summing gain of the fighter aircraft 3. The ker 380 attached. The yaw rate 50 output of the circuit 389 is connected to the input of the gyroscope 381 is connected to the airframe of the defense summing amplifier 390. The roller fighter aircraft 3 connected. The electrical output speed gyroscope 391 is connected to the airframe of the gyroscope 381 is connected to the input of the summing of the defense fighter aircraft 3. The electrical amplifier 380 is connected. The difference between the output of the roll speed gyroscope see the desired yaw rate, which ε _Λ , 55 391 is proportional to the input of the summing amplifier 390, and the actual one connected to it. The yaw rate measured at the output of the summing gyroscope 381 at amplifier 390 is the difference between that at the output of amplifier 380. The desired and measured rolling speed of the investigations on simulators is determined proportional to wor- Abwehrjagdflugzeuges 3. By checking the control of the rudder of the search on simulators, it has been found that defensive fighter aircraft 3 must change with AP in order for the effectiveness of the signal output of the summing system to be the most effective response of defensive fighter aircraft amplifier 390 as a function of aircraft speed 3 to its control signals to reach. Therefore speed V ₁ can be varied, in order to create the best output of the amplifier 380 with the on-control conditions and thereby the stability of the working with variable gain 65 of the airframe of the defense fighter 3 circuit 382 is connected. The circuit 382 is to be retained. The output of the summing amplifier differential pressure transducer 119 mechanically linked 390 is linked to the variable gain. The output of circuit 382 is connected to operating circuit 408. the media

nisch is connected to the output of the airspeed computing device 123 (Fig. 29). The output of the variable gain circuit 408 is connected to the input of the summing amplifier 392 , the output of which is connected to the aileron amplifier 393 . The output of the aileron amplifier 393 is connected to the valve and actuator 394 . This is mechanically connected to the ailerons of the defense fighter 3 by a hydraulic system. The position measuring device 395 is mechanically connected to the aileron of the defense fighter 3 in order to measure its position. The electrical output of the pick-up device 395 is proportional to the position of the aileron of the defense fighter 3 and reaches the input of the summing amplifier 392. Thus, the output of the summing amplifier 392 is proportional to the difference between the desired and the measured position of the aileron of the defense fighter 3.

The fire control system according to the invention thus enables the location or display of the distance and the bank angle of a target aircraft with respect to a defense fighter aircraft, the calculation of the The angle of attack, the sliding angle, the air density, the Mach number, the airspeed, the static Pressure, differential pressure and the value of mass times acceleration of the defense fighter. The fire control system according to the invention also enables the pre-calculation of the point when a missile must be launched, the time between launching a missile and the impact on target, the pitch and yaw reorientation angles of missiles launched by a defensive fighter be shot, as well as the hit or lead point and the speed of the Target. The fire control system according to the invention works together with one of the anti-aircraft fighter own automatic course control device, which the control surfaces of the anti-fighter plane in In accordance with signals from the fire control computer controls and causes the anti-fighter aircraft a predetermined course along a lead collision trajectory or lead pursuit trajectory follows.

In the construction of the components of the system according to the invention one is with a relative small number of parts managed, the weight despite the achievement of accuracy in the Plant is kept small. In this way, the aircraft, in combination with the flight data computer, the fire control computer, the automatic course control device and the guns or Missiles are an effective weapon that hits a target aircraft in a very small amount of time with the greatest efficiency intercepts and destroys.

Although in the foregoing description it is assumed that the goal is essentially one Moving constant speed, it can be seen that the fire control computer and in particular the included vector filter is able to use the current acceleration of the target To calculate with respect to the defense fighter so that the aiming error between the defense fighter and the goal is diminished. Naturally, an additional vector filter stage is required for this. if a single additional vector filter stage is all the effort required to compensate for essentially constant accelerations of the target is required, so is to compensate for changes Another vector filter stage is required to accelerate the target. Basically can the aiming error between the defensive fighter and the target with the system according to the invention reduced as much as desired, with limits being given by considerations only economic efficiency and weight are set.

Claims (9)

Patent claims: 1. Fire control system for an aircraft, consisting of a tracking radar device, a fire control computer and an automatic course control device that computed the defensive fighter along one of the computing devices Course controls, characterized by the correction of the fire control computer (4) by a flight data computing device (5), which calculates and delivers signals for the static Pressure, the angle of attack, the side slip angle, the air density and the airspeed are characteristic and are supplied to the fire control computer so that momentary and automatic correction of the fire control computer (4) is achieved. 2. Fire control system according to claim 1 for a defense fighter aircraft, characterized in that the fire control computer (4), which is automatically corrected by the flight data computer (5), prediction circuits (218, 221, 222, 227) for calculating the following course according to the equation R. T + V _B where Ti _{k is} the distance vector between the existing position of the anti-fighter aircraft (3) and a future target impact position (289), 7? is the range vector between the existing positions of the defensive fighter (3) and the target (2), V _{B is} the target velocity vector and T is the time it takes for the target (2) to reach the future position, and that the prediction circuits are vector summing circuits (218 ) which have the target speed vector V _B _ as the vector sum of the airspeed vector V ₁ , the range difference vector Rj along the line of sight and the outer product of the radar angular velocity vector ω and the range vector 7? produce. 3. Fire control system according to claim 1 or 2, characterized in that the fire control computer (4) has ballistic circuits which have a time-of-flight servo device (238 or Fig. 40), a time-of-flight servo device (226 or Fig. 39) and pitch angle and yaw calculating devices (239 and 237 or FIGS. 41 and 42) which are corrected by data from the flight data calculating device (5). 4. Fire control system according to claim 1, characterized in that the flight data computer (5) has aerodynamic parameter sensing devices for generating the correction signals, 409 539/50 wherein the devices contain means (Fig. 26, 27) for the static pressure and the dynamic pressure outside of the anti-fighter aircraft (3), and means (116) to the sense lateral acceleration of the defense fighter (3) directed transversely to the longitudinal axis. 5. Fire control system according to claim 1 or 2, characterized in that the fire control computer (4) Performs calculations that determine a point in time for firing the weapons (9), carried by the defense fighter (3). 6. Fire control system according to claim 1 or 2, characterized in that the flight data computing device (5) comprises: a device (122) for measuring static pressure, a device (119) for measuring the difference between the dynamic pressure and the static pressure, a Device (115) for calculating the weight of the anti-fighter aircraft (3) from measured values, a device (116) for measuring the acceleration of the anti-fighter aircraft (3) in FIG Direction of its z-axis and the acceleration of the defense fighter (3) in the direction of its y-axis, a device (117) for calculating the angle of attack of the anti-fighter aircraft (3) from measured values, a device (118) for calculating the sliding angle of the anti-fighter aircraft (3) from measured values, a device (120) for calculating the Mach number of the anti-fighter aircraft (3) from measured values, a device (123) for calculating the airspeed the defense fighter (3) from measured values and a device (21) for calculating the air density at the altitude of the defensive fighter aircraft (3) from measured values, the Output of the weight calculator (115) is connected to the input of the accelerometer (116), the output of the ζ- axis accelerometer (116) is connected to the input of the angle of attack calculating device (117), the output of the y-axis acceleration measuring device (116) with the input of the sliding angle calculating device (118) is connected, the output of the device (122) for measuring the static Pressure is connected to the input of the Mach number calculator (120), the output of the Pressure difference measuring device (119) with the input of the Mach number calculation device (120), the angle of attack calculating device (117), the sliding angle calculating device (118) and the Air density calculating device (121) is connected, furthermore the output of the Mach number calculating device (120) with the input of the angle of attack calculating device (117), the sliding angle calculating device (118), the airspeed calculator (123) and the air density calculator (121) and the output of the airspeed calculation device (123) to the input of the Air density calculating device (121) connected is (Fig. 23). 7. Fire control system according to claim 2, characterized in that the fire control computer comprising: means (228, 230) for transforming the target range and bearing signals from radar coordinates in aircraft coordinates, devices (237, 239) for correcting the flight condition of the defense fighter (3) in order to compensate for the deviation of the projectile (10) of the ballistic weapons (9) on the defense fighter (3) and devices (399 to 403) for correcting the attitude of the anti-fighter aircraft (3) to compensate for the effect of gravity on the projectile (10) of the ballistic Weapons (9) on the defense fighter (3). 8. Fire control system according to claim 7, characterized in that the radar antenna (22) on the defense fighter (3) is gimbaled (Fig. 18) and characterized by: Driving devices (80, 81) connected to the radar antenna (22) to effect that the radar antenna (22) in the direction of the target (2) based on the anti-fighter aircraft (3) assigns and measures its distance and direction, the drive devices (80,81) with the output of the thereby controlling radar antenna (22) are connected, three speed gyroscopes connected to the radar system (212,213,214) whose axes of response are mutually perpendicular to Establish electrical signals that correspond to the angular velocity of the radar antenna (22) around their Response axes are proportional to the inertial space between the radar antenna (22) and the defense fighter (3) mechanically coupled angle sensing devices (91, 95) for Creation of electrical signals which are characteristic of measured values of the angular deviation a coordinate system related to the radar antenna (22) from a coordinate system related to the defense fighter (3), a device (233) for multiplying the output value of the Sliding angle calculating device (118) with the output value of the airspeed calculating device (123), a device (234) for multiplying the output value of the angle of attack calculating device (117) with the output value of the airspeed calculation device (123), resolver (229, 231), which with the Angle sensing devices (91, 95) between the radar antenna (22) and the defensive fighter (3) with the output of the airspeed calculation device (123) and the output of the Airspeed slip angle multiplier (233) and the output of the Airspeed-angle of attack multiplier (234) connected to electrical Receive signals proportional to the speed of the anti-fighter aircraft (3) and expressed in coordinates of the coordinate system related to the radar antenna (22) are, a vector filter (218), the output of the resolver (229,231) with the input of the vector filter (218) and the output of the vector filter (218) is an electrical signal that the Vector speed of the target (2) expressed in radar coordinates is proportional to devices (223,224,225) to calculate the distance between the defense fighter (3) and the Target (2) at the predetermined time at which the missiles (10) hit the target (2), wherein ■ these computing devices (223, 224, 225) are connected to the output of the vector filter (218), apparatus (228, 230), the imaging b with the Winkelabfühlvorrichtungen (91, 95) between the radar antenna (22) and the Abwehrjagdflug- ( 3) are connected to transform the coordinates of the lead distance into defense fighter aircraft coordinates, a device (238) for calculating the flight time of the missiles (10), devices (237) for calculating the deviation of the missiles (10) in the direction of the yaw axis of the defense] agdflugzeuges (3), devices (239) for calculating the deviation of the rockets (10) in the direction of the longitudinal inclination axis of the computing device (239), devices (396, 399, 401) for calculating the sinking of the rockets (10) due to gravity and devices (398) for resolving the gravitational sinking of the rockets (10) in defense fighter aircraft coordinates, wherein the device (238) for calculating the flight time of the rockets (10) with the output of the air density calculating device (121) is connected, the device (237) for calculating the missile deviation in the direction of the yaw axis of the defense fighter (3) is connected to the output of the slip angle calculating device (118) and the output of the airspeed calculating device (123) , the device (239) for calculating the deviation of the missiles in the direction of the longitudinal inclination axis is connected to the output of the angle of attack device (117) and to the output of the airspeed calculation device (123) , devices (235, 236) for calculating the deviation between the actual attitude of the fighter aircraft (3) and the desired one Attitude of the anti-fighter aircraft (3) to cause the missiles (10) to destroy the target (2), the deviation calculator (235, 236) being connected to the input of the automatic course control device (6) to cause the Course control device (6) moves the control surfaces of the anti-fighter aircraft (3) so that this causes will approach the target (2) along the predetermined trajectory so that when the missiles (10) are fired they will hit the target (2). 9. Fire control system according to claim 2, characterized by a vertical gyroscope (7) which is gimbaled in the defense fighter aircraft (3) and supplies electrical output values which are a measure of the attitude of the defense fighter aircraft (3) to the normal of the gravitational field, the electrical output values of the gyroscope (7) are fed to the input of the automatic course control device (6) and the fire control computer (4), and characterized in that the tracking radar device (1) has an electrical output that connects to the input of the fire control computer (4) and the automatic course control device (6) is connected in such a way that the defense fighter (3) approaches the target aircraft (2) with the predetermined attitude with respect to the target aircraft (2) along the predetermined path and the prediction circuits automatically fire the weapons (9, 10). Considered publications:
British Patent Nos. 635 822, 754 530;
U.S. Patents Nos. 2704490, 2,726,810,
652, 2,878,466;
"Flugwelt" magazine, 1958, pp. 666, 667. For this 1} sheet of drawings 409 539/50 3.64 © Bundesdruckerei Berlin